A new metamorphic mechanism with ability for platform orientation switch and mobility change

A metamorphic kinematic pair is proposed and a novel metamorphic mechanism with symmetrical structure is presented that employs only revolute joints. The metamorphic mechanism consists of a base plate, a moving platform and two identical connecting legs. Each connecting leg contains a closed-loop subchain with metamorphic kinematic pairs. An improved adjacency matrix is introduced to represent the topological changes of metamorphic mechanisms. The three interesting cases of the closed-loop subchain are represented using the new adjacency matrix. The motion characteristics of the metamorphic mechanisms in different configurations corresponding to each work-stage of the connecting legs are analysed based on screw theory. The orientation switch ability of the moving platform is investigated.