A New Metamorphic Parallel Leg Mechanism with Reconfigurable Moving Platform

Table 1

Configuration synthesis results of branches in full configuration state.

Constraint screws of branches in p configuration state of R^xR^yT^z mechanism	Constraint screws of branches in s configuration state of 3RT^z mechanism	Is satisfied?	Branch configurations in full configuration state	Branch assembly conditions in p configuration state of R^xR^yT^z mechanism	Branch assembly conditions in s configuration state of 3RT^z mechanism
		Yes		(1) Center points of branches does not converge at a point; (2) Rotational axes corresponding to of each branch are not parallel to each other	(1) Center points of branches converge at a point; (2) One of revolute pairs in 2R or 3R spherical subchain of the branch connects with the moving platform
		No	——