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Table 1. Phases and DOF of limb (rA)P(rA)

From: Constraint and Mobility Change Analysis of Rubik’s Cube-inspired Reconfigurable Joints and Corresponding Parallel Mechanisms

No. Equivalent phase Phase DOF
1 SPS 1P1, 2P1, 2P2 6
2 UPS 3P1, 3P2, 4P1, 4P2, 5P1, 5P2 6, 5
3 RPS 6P1, 6P2 54
4 UPU 3P3, 3P4, 3P5, 4P4, 4P5, 5P5 5, 4
5 UPR 3P6, 4P6, 5P6 4
6 RPR 6P6 3