Chinese Journal of Mechanical Engineering

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

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