Reconfiguration in linkages by variable allocation of joint positions: a modular design approach

By properly reallocating the joint positions of pin-jointed planar linkages, all types of reconfiguration characteristics, excepting the change of contact constraints in kinematic pairs, can be obtained. Given the simplicity of this fact, a modular design approach, a general principle of decomposing products into components, is proposed in this work for the assembly of reconfigurable linkages from scratch. The suggested modular component can be modeled as a binary link of variable length, a revolute-prismatic-revolute kinematic chain with an actuated slider joint. The proposed module is discussed and some preliminary results of its design and implementation are shown. A description of some of the applications in reconfiguration of this modular concept, including the design of linkages with changing number of links, variable mobility, and varying geometry, is presented.