, Volume 51, Issue 7, pp 1583–1593 | Cite as

Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism

  • Dongming Gan
  • Jian S. Dai
  • Jorge Dias
  • Lakmal Seneviratne
Recent Progress and Novel Applications of Parallel Mechanisms


This paper presents a unified inverse kinematics and dynamics model of a metamorphic parallel mechanism with pure rotation and pure translation phases. By altering one rotation axis of the reconfigurable Hooke (rT) joints in the limbs, the mechanism can be switched into one of the two phases. To provide joint reaction forces for optimal design and control, Newton method is used in developing the dynamics model which is unified by combining geometric constraints and parameters in both phases. An analytical investigation provides special joint force decomposition and limb coordinate setup to decouple the dynamics equations between the platform and the limbs. This reduces the dynamics computation load from solving a 15 × 15 matrix to a 6 × 6 matrix. A numerical example is given to illustrate the proposed method and simulation results are explained and compared between the two phases. The work on this paper gives good reference for optimal design and control of this metamorphic parallel mechanism in different applications using two phases.


Parallel mechanism Reconfigurable Unified dynamics Joint force decomposition 



The work is partially supported by the National Natural Science Foundation of China (Project Nos. 51375058 and 51205016), the New Century Excellent Talents in University (Project No. NCET-12-0796), the Specialized Research Fund for the Doctoral Program of Higher Education (Project No. 20120005110008).


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Copyright information

© Springer Science+Business Media Dordrecht 2015

Authors and Affiliations

  • Dongming Gan
    • 1
  • Jian S. Dai
    • 2
  • Jorge Dias
    • 1
    • 3
  • Lakmal Seneviratne
    • 1
    • 2
  1. 1.Robotics InstituteKhalifa University of Science, Technology and ResearchAbu DhabiUAE
  2. 2.School of Natural and Mathematical Sciences, King’s College LondonUniversity of LondonLondonUK
  3. 3.Faculty of Science and TechnologyUniversity of CoimbraCoimbraPortugal

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