Type synthesis of multi-mode mobile parallel mechanisms based on refined virtual chain approach

Yang Liu, Yezhuo Li, Yan-an Yao, Xianwen Kong

Research output: Contribution to journalArticlepeer-review

17 Citations (Scopus)
49 Downloads (Pure)


Mechanisms with multiple operation and multiple locomotion modes are applied to implementing the different tasks and adapting to the changes in terrains as well. Based on this application, this paper presents a refined virtual chain approach which is applied to the type synthesis of a class of multi-mode mobile parallel mechanisms (PMs). This approach is based on screw theory to synthesize the branches with coaxial rotating components under different constraint conditions. The geometric orientations of the different constraint conditions in a plane can be changed by using coaxial rotating components. Meanwhile, the inactive joints in branches are determined. By means of this approach, a number of symmetrical and asymmetrical reconfigurable PMs with four branches are obtained. The four of the multi-mode PMs are sketched as examples and the operation and locomotion modes for the mechanisms are discussed.
Original languageEnglish
Article number103908
JournalMechanism and Machine Theory
Early online date4 Jun 2020
Publication statusPublished - Oct 2020


  • Inactive joint
  • Multi-mode mobile parallel mechanism
  • Refined virtual chain
  • Screw theory
  • Type synthesis

ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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