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СпутникиРНSpaceXРоскосмосNASAThe design of multi-loop metamorphic mechanisms is a challenging aspect in the study of metamorphic mechanisms. This paper presents the design and analysis of a metamorphic mechanism derived from planar four- to six-bar linkages. The mechanism is developed by adding two equal-length links to a four-bar mechanism, creating a planar six-bar metamorphic mechanism. Its kinematic characteristics are analyzed using a screw coordinate system. The metamorphic mechanism consists of three loops and eight revolute joints. It can transition between three distinct configuration branches: six-bar, four-bar, and two-bar, depending on the configuration. The paper also analyzes the singular configurations of the mechanism, identifying two types of singularities: one where links 2, 3, 4, and 7 are collinear, and another where all the links are collinear. By calculating the first-order kinematics of the mechanism, the corresponding velocity relationships and constraint equations for each joint are derived. Additionally, the paper examines how the mechanism can undergo reconfiguration transformations between different motion branches in singular configurations.
The design of multi-loop metamorphic mechanisms is a challenging aspect in the study of metamorphic mechanisms. This paper presents the design and analysis of a metamorphic mechanism derived from planar four- to six-bar linkages. The mechanism is developed by adding two equal-length links to a four-bar mechanism, creating a planar six-bar metamorphic mechanism. Its kinematic characteristics are analyzed using a screw coordinate system. The metamorphic mechanism consists of three loops and eight revolute joints. It can transition between three distinct configuration branches: six-bar, four-bar, and two-bar, depending on the configuration. The paper also analyzes the singular configurations of the mechanism, identifying two types of singularities: one where links 2, 3, 4, and 7 are collinear, and another where all the links are collinear. By calculating the first-order kinematics of the mechanism, the corresponding velocity relationships and constraint equations for each joint are derived. Additionally, the paper examines how the mechanism can undergo reconfiguration transformations between different motion branches in singular configurations.
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This paper is supported by Hebei Scientific Research of Higher Education Institutions under Grant QN2025222, Hebei Natural Science Foundation under Grant E2022202130.
School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300401, China
Yongpeng Guan, Hongfei Liu, Yuhang Zhu, Yusong Xing & Jun Wei
Authors
Correspondence to Jun Wei.
School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China
Jianrong Tan
School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China
Zhenyu Liu
Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China
Weifei Hu
© 2027 The Chinese Mechanical Engineering Society
Guan, Y., Liu, H., Zhu, Y., Xing, Y., Wei, J. (2027). Design and Analysis of a Metamorphic Mechanism Derived from Planar Four-Six-Bar Linkages. In: Tan, J., Liu, Z., Hu, W. (eds) Advances in Mechanical Design. ICMD 2025. Mechanisms and Machine Science, vol 206. Springer, Singapore. https://doi.org/10.1007/978-981-95-7904-4_77
Download citationDOI: https://doi.org/10.1007/978-981-95-7904-4_77
Published: 25 June 2026
Publisher Name: Springer, Singapore
Print ISBN: 978-981-95-7903-7
Online ISBN: 978-981-95-7904-4
eBook Packages: Mechanical Engineering (R0)Springer Nature Proceedings excluding Computer Science