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

posted on 2023-06-09, 00:28 authored by Nicolas Rojas, Rajesh Elara Mohan, Ricardo Sosa
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.


Publication status

  • Published

Page range


Presentation Type

  • paper

Event name

3rd IFToMM International Symposium on Robotics and Mechatronics (ISRM)

Event location


Event type


Event date

2 to 4 October 2013

Book title

IFToMM International Symposium on Robotics and Mechatronics

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

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