PLEASE NOTE: This paper has been formally published on ASME Transactions, Journal of Mechanical

Design. Copyright © 2010 by ASME

Please cite the paper as following:
K. Zhang, J. S. Dai, Y. Fang, 2010, Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and
Its Evolved Mechanism, ASME Transactions, Journal of Mechanical Design, 132(12), p. 121001-1.

Topology and Constraint

Ketao Zhang
Research Assistant Analysis of Phase Change
King’s College London
University of London
Strand, London WC2R 2LS, UK in the Metamorphic Chain
Beijing Jiaotong University
Beijing 100044
P. R. China and Its Evolved Mechanism
[email protected]
This paper presents a metamorphic kinematic pair extracted from origami folds in the
Jian S. Dai context of mechanisms, its evolved metamorphic chain and the novel metamorphic
Chair of Mechanisms and Robotics parallel mechanism. The study starts from the generic issues of topological
King’s College London representation for metamorphic mechanism, leading to unified elementary matrix
University of London
Strand, London WC2R 2LS, UK
operation for presentation of topological variation. Phase matrix and augmented
[email protected] adjacency matrix are developed to present the topological state and geometry of
url: www.kcl.ac.uk/cmms/jsd metamorphic mechanism in an evolutionary process. The metamorphic kinematic pair
has the ability of changing mobility to generate different motion patterns based on
Yuefa Fang mobility change correlated to the link-annex-induced topological phase change. The
Professor paper then investigates topological variation of the metamorphic chain and the
Beijing Jiaotong University topological subphases are enumerated in accordance with structure evolution. Using the
Beijing 100044 metamorphic chain as chain-legs, a multi-loop metamorphic mechanism with ability of
P. R. China performing phase change and orientation switch is constructed. The disposition of
[email protected] constraints and geometric-constraints induced bifurcated motion are analyzed based on
screw theory. The topological variation of the metamorphic parallel mechanism is
addressed and the foldability is verified by physical device.

1 Introduction relative orientations. Recently, Zhang and Dai [9] investigated the
built-in spatial modules extended with metamorphic characteristics
Robots with capability that can reconfigure their structure and and developed metamorphosis operation with building blocks [10] in
shape are desirable in tasks such as search and rescue in disastrous the form of spatial kinematic pairs and associated links.
environments and space exploration, where robots go through Elementary matrix operations were introduced to describe the
unexpected environments and perform tasks that are difficult for topological configuration transformation of metamorphic mechanisms
devices with traditional kinematic structure. The new mechanisms by Dai and Rees Jones [11]. In succession, they [12] developed formal
including metamorphic mechanisms and kinematotropic mechanisms matrix operations to describe the distinct topology of metamorphic
and other development in reconfigurable mechanisms [1, 2] are mechanisms. The elimination E-elementary matrix is introduced to
required for constructing reconfigurable robot arms, evolutionary robot form an EU-elementary matrix operation to produce the topological
legs and devices to adapt to various conditions and meet the demands. variation. In order to preserve the original information of the
As there is an ever-growing need for reducing production time [13] metamorphic mechanism in the process of topological changes, Lan
and saving energy to meet the changing market requirement [14], and Du [13] introduced element “–1” to indicate the frozen kinematic
metamorphic mechanisms that meet the demand of changing mobility pairs with suppressed relative motion and presented the transformation
in production present a new way of developing closed-loop chains and with adjacency matrices of the same dimension.
parallel mechanisms. Though the study of metamorphic mechanisms attracted much
The metamorphic mechanism [3] takes the concept of attention, typical devices that perform mobility change are still few. In
metamorphosis and changes its structure, shape and subsequently particular, a parallel mechanism usually has fixed mobility and does
mobility. The mechanism presents a kind of mechanical arrangement not have ability to change it, resulting in limited flexibility to
that has the ability to have its structure transformed from one kind to accommodate changes requested from the industrial environments.
another. Parise et al. [4] proposed ortho-planar mechanisms which are The generic problem to meet the required configuration is to utilise a
well-suited for metamorphic mechanisms. Liu and Yang [5] put mechanism that can evolve into various topological phases, resulting
forward the essence, characteristics and metamorphic ways of in mobility change. This paper discusses the way of achieving it and of
metamorphic mechanisms, as well as the definition of metamorphic analysing it and presents a generic way to study mobility change in
kinematic pairs. Guo [6] investigated the characteristic of five this kind of mechanisms. In this part of research, the generic issue is to
metamorphic kinematic pairs and mobility change of planar represent and analyse the phase change induced by link-annex-based
metamorphic mechanisms. Carroll et al. [7] further presented physical constraints at typical configurations. This paper for the first
metamorphic process to make a step change in manufacture that has an time presents a new kinematic pair which changes its structure to
effect on nano-manufacture. Yan and Kuo [8] emphasized variable generate different motion patterns from spherical joint to Hooke joint
topology of the kinematic joints based on topological representation in and to compound revolute joint. This new metamorphic pair is then
the form of graphs and topology matrices. Joint codes of commonly integrated to a hybrid kinematic chain to form a metamorphic
used kinematic joints were listed for characterizing the joint type and kinematic chain that has the ability for topological variation in the

1
process of structure evolution. Based on this, a new type of source phase and the subphase is unraveled by the unified elementary
metamorphic parallel mechanisms is presented in this paper by using matrix operation.
the metamorphic chains as chain-legs. This creates a new parallel The modified EU-elementary matrix operation consists of steps of
mechanism that changes the motion characteristics and implements applying a Ui,j-elementary matrix operation which is similar as that in
bifurcated motion. literature [12] and a new introduced Ej(-1)-elementary matrix operation.
The study of the metamorphic chain and metamorphic parallel The function of the elementary matrix Ui,j is to add the jth row to the
mechanism presents a generic way in the study of induced constraint ith row of a phase matrix when premultiplying the elementary matrix,
change of the reconfigurable mechanisms and presents a way in and it is symbolized in the subscript. Postmultiplying the transpose of
changing phases and motion characteristics. The new mechanism has a the elementary matrix adds the jth column to the ith column of the
potential to be used for robotic surgery [14-16] by changing the phase matrix. The elementary matrix Ej(-1) is introduced to perform the
topological phases to match the required stage in surgical tool motion function of integrating the element –1 to the jth row and column of a
[17, 18]. In the production, the mobility change helps confine the phase matrix when it is premultiplied to a phase matrix and its
mechanism in the required motion range and change it to other transpose is postmultiplied. In such case, the dimension of the
required motion ranges. The orientation-switch of the platform allows adjacency matrix and the identified number of the links in the
the production line to switch into a different mode for packaging [19- mechanism are kept unchanged after the transformation. The
21]. In the space exploration, the metamorphic parallel mechanism information of the annexed links is represented by the entry with
with foldability is able to serve as instrument holders and provide element –1 and the connectivity of effective links in subphase is
foldable equipment. reserved by the entries with element 1 in phase matrix. The modified
This paper presents the metamorphic subphases of the matrix operation uses modulu-2 arithmetic.
metamorphic kinematic pair and its evolved metamorphic chain and If presume the source phase matrix Ps is an n by n matrix and a
the metamorphic parallel mechanism. Phase matrix is developed based subphase is induced by annexing the jth link to ith link through motion
on the modified EU-elementary matrix operation and the suppression , the elementary matrix operation can be give by
transformation between source phase (parent phase) and subphase P (E j ( 1) U i , j )P s (E j ( 1) U i , j )T (1)
(offspring phase) is embodied in the unified matrix operation. This is
then reflected in the digraph to illustrate the process of phase changes.
The analytical treatment is further extended to generate the phase where
matrix and augmented adjacency matrix of the metamorphic chain by ª e1 º
integrating joint codes. Both phase matrix and the augmented « »
« % »
adjacency matrix present the topology state and geometry of each
phase. The paper further presents enumeration of subphases of the « e j 1 »
« »
metamorphic chain based on Burnside's lemma [22] and Pólya
E j ( 1) E(( 1) j ) « e j »
enumeration theorem [23] in combinatorics with consideration of « »
kinematic geometry [24, 25] and reveals geometric constraints induced « e j 1 »
bifurcated motions [26] of the metamorphic parallel mechanism are « »
« % »
revealed based on screw theory [27-30], leading to link-annex induced
« »
variable topological analysis of the metamorphic parallel mechanism «¬ en »¼
in accordance with the phase change of the chain-legs.
ª u1 º
« »
« % »
2 Matrix Representation of Topological Variation in « ui uj »
Metamorphic Mechanisms « »
Ui , j E( i  j ) « % »
The inherent properties of the metamorphic mechanism are « »
« uj »
structure evolution, topology variation and subsequently mobility « »
change between phases in a working cycle. An approach leading to « % »
topological phase variation of a metamorphic mechanism is induced « »
by link-annex with suppressed relative motion between two adjacent «¬ un »¼
links. The distinct topological phases and transformation between
them can be represented by phase matrix and the unified elementary- in which the entry ek and uk (k 1,", i,", j ,", n) are defined as 1.
matrix operation.
2.1 Unified Elementary Matrix Operation from the Modified Reversely, when the metamorphic mechanism returns to the
EU-Elementary Matrix. source phase from a subphase configuration, the relative links annexed
The source phase [9] of a metamorphic mechanism contains in the process of topological phase change from source phase to the
subphase mechanisms and completes the transition between subphase subphase are released and the connectivity of the mechanism changes
mechanisms. Its topological structure and link connectivity can be in the same time. The reversed transformation can be represented by
represented by source phase matrix noted Ps. In the matrix, the rows the elementary matrix operation since the Ui,j-elementary matrix and
and columns of the matrix are related to the identified number of the new introduced elementary matrix Ej(-1) are invertible. It implies that
links and each link is identified by a number 1 to n. the source phase matrix Ps can be derived from a phase matrix P of a
The connectivity of the metamorphic mechanism changes when subphase by implementing the inverse operation of Eq. (1). This
the mechanism changes its topological configuration from the source operation corresponds to the release of the suppressed link motion in
phase to a subphase. Accordingly, the topological change represented the physical process of structure evolution of a metamorphic
in the matrix form takes place. The phase matrix P of a subphase can mechanism. The inversion of the matrix operation is expressed as
be derived from the source phase matrix Ps using the modified EU- P s (U i,1j E j 1( 1) )P(U i,1j E j 1( 1) )T (2)
elementary matrix operation. The two-step EU-elementary matrix where
operation can be expressed as one unified elementary matrix operation.
As a result, the topological configuration of the subphase is E j 1( 1) E(( 1)1 j ) E j ( 1) , U i,1j E( i  ( 1) j )
represented by the phase matrix and the transformation between the

2
 Since both the elementary matrices Ui,j and Ej(-1) are n by n square joints. A typical example is the cardboard fold of Sarrus linkage [3,
matrix, the elementary matrix operation in Eq. (1) and Eq. (2) can be 32].
simplified and expressed as 3.1 A Metamorphic Kinematic Pair from Origami-Fold
P (Ci , j )P s (Ci , j )T (3) An L-shaped cardboard is shown in Fig. 2 and the properly
precut-creases divide this cardboard into three main parts as panels.
Ps (Ci,1j )P(Ci,1j )T (4) Panel 1 is in right trapezoidal shape, panel 2 in isosceles right-angled
where triangular shape and panel 3 in rectangular shape. Further, there is flap
4 being jointed to panel 1 as in Fig. 2.
Ci , j E j ( 1) U i , j , Ci,1j U i,1j Ej 1( 1)
The matrix operation between the source phase and a subphase
can be further represented in abstract form by the digraph
representation [8, 31] in Fig. 1. In the digraph representation, the
vertex denotes a topology phase of the metamorphic mechanism and
the ordered arc represents the transformation between two topological
phases. Each vertex is labeled with the corresponding phase matrix,
and each arc is denoted by the unified elementary matrix.

Fig. 2. An L-shaped flat cardboard with precut creases

The height h of panel 1 is equal to the width d of panel 3. The

angles Į1 and Į2 are defined as that from crease R01 to R12 and R12 to
Fig. 1. Digraph representation of topological phase change R23. Considering the shape and parameters of panel 1 and panel 2, the
two angles are determinate, that Į1 = 135° and Į2 = 45°. Hence, the
geometry of the L-shaped cardboard is uniquely defined.
The unified elementary matrix operation in Eq. (3) and (4) and
the digraph representation in Fig. 1 can be extended to the topological
phase change induced by links annex between any source phase as the
parent phase and its sub-phases as offspring phases of a metamorphic
mechanism.
2.2 Augmented Adjacency Matrix with Joint Code
The connectivity of the effective links and transformation
between phases are represented by the adjacency-matrix based phase
matrix. However, the geometrical properties including joint type and
representative orientations of the effective joints in each topological
phase of the metamorphic mechanism are not represented. This leads
to isomorphism in topological representation when two mechanisms (a) (b)
have equal links and same connectivity. In order to overcome the Fig. 3. Source phase of the metamorphic kinematic pair
shortage, joint code is integrated in the phase matrix to form (a) Partially-folded L-shaped cardboard
augmented adjacency matrix for unique representation of the (b) Equivalent 3R spherical unit
mechanism topology. The inherent geometric properties of each
topological phase are then characterized by augmenting the phase Looking closely at the three creases R0,1, R1,2 and R2,3 intersecting
matrix with joint code. at common point A when the L-shaped cardboard is partially folded in
In the augmented adjacency matrix, the elements (i, j) and (j, i) Fig. 3(a), the three intersecting creases are not coplanar. In the context
are assigned J J ED if and only if the elements are defined 1 in the of mechanisms, an equivalent 3R spherical open-loop chain can be
derived in Fig. 3(b) corresponding to the partially folded structure of
corresponding phase matrix. The entries defined as 0 and –1 in the the cardboard in Fig. 3(a).
phase matrix are kept unchanged to fully define the augmented In the topological configuration in Fig. 3(b), link 3 has three
adjacency matrix. The characterization J J ED is joint code of the joint degrees of rotational freedom with respect to link 4. The rotation
connecting links i and j. The superscript Į denotes the joint type, the centre of link 3 is the common point A of the three intersecting axes
subscript ȕ denotes the representative orientation of the joint in a R0,1, R1,2 and R2,3. The 3R spherical unit [25] can be considered as an
reference frame [8] and the presuperscript Ȗ symbolize the origin of the equivalent spherical kinematic pair for producing motion equivalent to
reference frame. In particular, the representative orientations of two that of a spherical joint [33].
joints with parallel or collinear axes are same with respect to a same Consider the geometry of the two nonadjacent creases R0,1 and
reference frame. For convenience of the expression of joint R2,3, there are two subphases in the folding process of the L-shaped
orientation, the reference frame is set up in accordance with the cardboard where the two creases become perpendicular and collinear
Denavit- Hartenberg convention. respectively. Accordingly, the equivalent spherical kinematic pair has
two subphases in the working cycle and is capable of changing its
topological configuration and implementing different working
3 A Generalized Metamorphic Kinematic Pair with functions at each subphase. Hence, the equivalent spherical kinematic
pair extracted form the L-shaped cardboard can be taken as a
Variable Topology generalized metamorphic kinematic pair. When the metamorphic
kinematic pair is in the topological configuration in Fig. 3(b), it acts as
The concept of mechanisms is often embedded in artifacts where
a metamorphic source phase that contains subphase motion and
they exist [3] in the form of paper folds which appear in many
completes the transition between subphases.
occasions. A paper fold is usually formed by cardboard paper panels
Starting from the partially folded structure, rotating paper panel 2
with precut creases which act as joints to link the adjacent paper
about crease R1,2 in Fig. 3(a) and annexing it at panel 1, the two panels
panels. In the context of mechanisms, a paper fold can be taken as a
are folded together and make a union as Fig. 4(a). Correspondingly,
mechanism when considering panels as links and creases as revolute

3
the equivalent metamorphic kinematic pair reduces its effective links The origin of the coordinate frame O-x0y0z0 is located at the
by rotating link 2 towards link 1 and fixing the two links when the common point A. The z0-axis is aligned with the axis R0,1 of joint e1
three intersecting joint axes are coplanar in Fig. 4(b). As a result, the and x0-axis is perpendicular to the axes R0,1 and R1,2 of joints e1 and e2
joint axes R0,1 and R2,3 become perpendicular and the link 3 has only with direction pointing upward. In accordance with the Denavit-
two independent rotational DOFs with respect to the fixed link 4. The Hartenberg convention, the axes z1 and z2 are aligned with the axes
stable topological configuration is termed the first subphase of the R1,2 and R2,3 of joints e2 and e3.
metamorphic kinematic pair and can be taken as an equivalent As defined in section 2, the source phase matrix of the
Hooke’s joint with perpendicular joint axes [34]. metamorphic kinematic pair in Fig. 6(a) can be yielded as
ª0 1 0 1 º
«1 0 1 0 »
Ps « » (5)
«0 1 0 0»
« »
¬«1 0 0 0 ¼»
The augmented adjacency matrix with joint code of the source phase
can be derived from Eq. (5) and expressed as
ª 0 A r
J z1 0 J z0 º
A r

«A r A r
»
(a) Folded cardboard (b) Equivalent Hooke’s joint « z
J 0 J z2 0 »
Fig. 4. The first subphase of the metamorphic kinematic pair As « 1 A r » (6)
« 0 J z2 0 0 »
« AJ r 0 »»¼
Unfolding the cardboard in Fig. 4(a) to the initial general «¬ z0 0 0
topological configuration as in Fig. 3(a), the partially-folded L-shaped where the superscript ‘s’ indicates the source phase and the equivalent
cardboard resumes. From the source phase, deploying panel 2 and function of spherical motion of link 3. The superscript ‘r’ of the joint
annexing panels 1 and 2 when they are coplanar as in Fig. 5(a). code denotes the revolute joint type. The presuperscript ‘A’ indicates
Corresponding to this process, link 1 and link 2 in the equivalent the motion center which is the common point of the axes z0, z1 and z2.
metamorphic kinematic pair make a union by annexing two links when This is embodied in Fig. 3(b) with three axes intersecting the center
the joint axes R0,1 and R2,3 become collinear in Fig. 5(b). This leads to point A.
another stable topological configuration termed the second subphase in Following the phase transition from the source phase to the first
which the kinematic pair works as a compound revolute pair and link 3 subphase by annexing links 1 and 2, the z2-axis aligned with axis R2,3
has one rotational DOF with respect to link 4 in Fig. 5(b). of the joint e2 becomes collinear with the y0-axis and perpendicular to
axis R0,1 of joint e1 in Fig. 6(b). Corresponding to the process of links
annex, the topological change of the metamorphic kinematic pair takes
place and can be expressed by a unified elementary matrix operation.
As depicted above, the link 2 is annexed to link 1 in the structure
evolution from source phase to the first subphase. This is reflected by
the elementary matrix C1,2 in which the subscript ‘1,2’ indicates that
the link 2 is annexed to link 1 and the link 2 is not effective. The phase
matrix for the equivalent Hooke’s joint derived from the source phase
matrix Ps in an elementary matrix operation is given as
(a) Deployed cardboard (b) Equivalent compound revolute pair ª 0 1 1 1 º
Fig. 5. Second subphase of the metamorphic kinematic pair « »
 1 0 1 0 »
P u (C1, 2 )P s (C1, 2 )T « (7)
3.2 Topological Representation of the Metamorphic « 1 1 0 0 »
« »
Kinematic Pair «¬ 1 0 0 0 »¼
Following the structure evolution of the metamorphic kinematic
pair, the phase transformation is illustrated by the physical transition in where the superscript ‘u’ indicates the equivalent function of the
Fig. 6. Hooke’s joint with two perpendicular rotation axes intersecting at
common point A. The phase matrix Pu represents that the link 3 and
link 1 are jointed after the topological phase change and the link 2 is
fixed.
The augmented adjacency matrix of the first subphase as the
equivalent Hooke’s joint can be derived from Eq. (7) and given as
ª 0 1 A J yr 0 A J zr0 º
« »
u « 1 0 1 0 »
A « A J r 1 0 0 »»
(8)
« y0
« AJ r 0 »¼
¬ z0 0 0
The Hooke’s joint in Fig. 6(b) needs to return to the source phase
in Fig. 6(a) and convert to the second subphase. Corresponding to the
unfixing of links 2 and 1, the topological change of the metamorphic
kinematic pair can be expressed by an elementary matrix operation
given as
P s (C1,12 )P(C1,12 )T (9)
Fig. 6. Physical transition of the metamorphic kinematic pair
When the metamorphic kinematic pair changes its topological
configuration from the source phase to the second subphase in Fig.
6(c), the axes of revolute joints e3 and e1 are collinear and along z0-

4
axis. This topological phase change can be represented by the unified respectively in Fig. 8. The origin of the coordinate frame O9-x9y9z9
elementary matrix operation based on Eq. (1). Since the two annexed associated with the link 10 is coincident with the common point D.
links are same as that to form the first subphase, the matrix operation The z9-axis is aligned with line DC and the x9-axis is perpendicular to
and the phase matrix for the second subphase are same to that in Eq. the axes of joints e5 and e6.
(7) and given by
P rr P u (C1, 2 )P s (C1, 2 )T (10)
where the superscript ‘rr’ denotes the compound rotating pair.
According to the geometry of the second subphase in Fig. 6(c),
the augmented adjacency matrix for is derived from equation (11) and
expressed as
ª 0 1 A J zr0 A J zr0 º
« »
« 1 0 1 0 »
A rr « A r
0 »»
(11)
« J z 0 1 0
« AJ r 0 »¼
¬ z0 0 0
Although the phase matrices for the two subphases in Eq. (7) and
Eq. (10) are same, the two augmented adjacency matrix in Eq. (8) and (a) Closed-loop cardboard (b) Metamorphic chain
Eq. (11) are distinct and able to overcome the isomorphism Fig. 8. The metamorphic chain from closed-loop cardboard
encountered in the phase matrix representation of different
mechanisms. As illustrated in Fig. 8(b), the axes of each triplet of revolute
From the second subphase, the metamorphic kinematic pair can joints intersecting at a common point are not coplanar and the four
return to the source generator by releasing the two annexed links 1 and virtual metamorphic kinematic pairs are in their source phase. Hence,
2. The matrix operation of this topological change is same to that in the topological configuration is the source phase of the metamorphic
Eq. (9). chain.
The topological phase change between the source generator and 4.2 Structure Evolution of the Metamorphic Chain
two subphases of the metamorphic kinematic pair is represented in Since each virtual metamorphic kinematic pair at common points
abstract form by the digraph representation illustrated in Fig. 7 based A, B, C and D has three topological phases, enumeration of the
on the representation in Fig. 1. potential topological phases of the symmetrical metamorphic chain in
the process of structure evolution resorting to link annex can be carried
out based on Burnside's lemma [22] and Pólya enumeration theorem
[23] in combinatorics. The permutation groups of the four common
points are listed in Table 1.

Table 1 Permutation groups of the four common points

Fig. 7. Digraph representation of the generalized metamorphic
kinematic pair Common
Permutation group G
Sum
A B C D
4 A Metamorphic Chain and Its Structural Evolution (A)(B)(C)(D) 1 1 1 1 4
(AC)(BD) 0 0 0 0 0
Based on the aforementioned metamorphic kinematic pair, a (ADCB) 0 0 0 0 0
metamorphic kinematic chain containing closed-loop subchain can be (AD)(BC) 0 0 0 0 0
obtained. The structural evolution corresponding to the phase change 2
(BD) 0 1 0 1
of the virtual metamorphic kinematic pairs at each common point in 0
(AB)(CD) 0 0 0 0
the metamorphic chain is addressed.
(ABCD) 0 0 0 0 0
4.1 Kinematic Structure of the Metamorphic Chain
(AC) 1 0 1 0 2
Four L-shaped cardboards are integrated to form a symmetric
closed-loop in Fig. 8(a), and a metamorphic chain consisting of an Sum 2 2 2 2 l=8/8=1
eight-bar closed-loop subchain is evolved in Fig. 8(b). In the closed-
loop subchain, the links of the closed-loop subchain are labeled 1 to 8 Hence, the maximum equivalence class of the topological phases for
and the revolute joints are labeled e1 to e8. The output link 5 is the metamorphic chain can be calculated as
connected to the base link 1 with two identical limbs. Each triplet of k 4  2k 3  3k 2  2k
revolute joints intersecting at common points A, B, C and D compose a PG 21 ( k 3) (12)
8
virtual metamorphic kinematic pair. Since the metamorphic kinematic where k is the number of different phases for each metamorphic pair.
pair is capable to change its structure from source phase to two The construction of a subphase takes into account of the
subphases resorting to link-annex by suppressing the relative motion geometrical constraints which leads to further reduction of the total
between two links, the kinematic chain in Fig. 8(b) can change its number of the subphases. The proper subphases are enumerated in
structure accordingly when the phase change of a metamorphic Table 2 according to the permutation groups in Table 1 and geometric
kinematic pair takes place and work as a metamorphic chain. constraints aroused by the link annex in corresponding phase change.
The origin of the fixed coordinate frame O-x0y0z0 is attached to The unified elementary matrices corresponding to the phase
the common point A and the z0-axis is aligned with the joint axis of e1. change in Table 2 can be derived based on Eq. (3).
The x0-axis is perpendicular to the axes of joints e1 and e2 and pointing Further, the graph representation of the topological configuration
upward. The axes z1 to z8 are aligned with the axes of joint e2 to e9 of each subphase is illustrated in Fig. 9.

5
 Table 2 Subphases of the metamorphic chain
1
Subphase C C2 C3 C4
Pc4 (C5, 6 )(C1, 2 )Pc3
MO Pc1 (C1,8 )Pcs (C1,8 )T Pc2 (C5, 6 )Pc1 (C5, 6 )T Pc3 (C5, 4 )Pc1 (C5 , 4 )T
(C1, 2 )T (C5, 6 )T

KC

Subphase C5 C6 C7 C8
Pc8 (C5, 6 )(C1,8 )Pc6
MO Pc5 (C1, 2 )Pcs (C1, 2 )T Pc6 (C5, 4 )Pc5 (C5, 4 )T Pc7 (C5, 6 )Pc5 (C5, 6 )T
(C1,8 )T (C5, 6 )T

KC

Note: Ci (i = 1, 2, … , 8) is the notation of a subphase, MO is the shorthand of Matrix operation and KC is the shorthand of
Kinematic chain.
Comparing to the graph representation in Fig. 9, the augmented
adjacency matrices of the subphases C4 and C8 given in appendix are
able to distinguish the structure of the two subphases which have same
graph representation [35].

Fig. 10. Digraph representation of the phase change of the

metamorphic chain

5 Bifurcated Motion of the Evolved Metamorphic

Mechanism
1 2 3 4
(a) C (b) C (c) C (d) C
In this section, a metamorphic parallel mechanism evolved from
the metamorphic chain is presented and the bifurcated motions of the
platform induced by geometric constraint are addressed.
5.1 Geometry and Transitory Position of the Metamorphic
Mechanism with Two Metamorphic Chains
Taking the metamorphic kinematic chain in Fig. 8 as chain-legs, a
metamorphic parallel mechanism is constructed in Fig. 11. The
platform labeled 11 is connected to the base 9 with two metamorphic
chains C1 and C2. The base is determined by the four common points
A, A’, B’ and B and the platform is determined by the four common
(e) C
5
(f) C
6
(g) C
7
(h) C
8 points D, D’, C’ and C on the other end. Both the base and platform in
Fig. 9. Graph representation for the subphases of the square shape are characterized by parameter r0 of the inscribed circle
metamorphic chain radius. The lengths of link 3, 7, 13 and 17 are equal and defined by
2r1. Both parameters r0 and r1 are that of the metamorphic mechanism
According to the matrix operation in the process of structure design and remains constant. The coordinate frame O-XYZ attached at
evolution of the metamorphic chain in Table 2, the digraph the center of the base is set as the global frame. The X-axis is
representation of the transformation between topological phases is perpendicular to AB, Y-axis is parallel to AB, and Z-axis is normal to
illustrated in Fig. 10. the base following the right-handed rule.
Consider the structure of the metamorphic parallel mechanism
with two identical chain-legs, the platform is parallel to the base and

6
the disposition of the joint axes is illustrated in Fig. 11. The two where cș is a shorthand notation for cosș,and sș for sinș. The angle ș
metamorphic chain-legs C1 and C2 are in its source phase and this is measured from plane XOY to plane H1.
configuration is the source phase of the metamorphic parallel Since the angle between the axes of joint e8 and e9 is determined
mechanism. In chain-leg C1, joint axes AP1 and BP1 are perpendicular by Į2 in Fig. 2, it can be derived that
and form a plane H1, and joint axes CP2 and DP2 are perpendicular and s11 ˜ s12
form a plane H2. The two planes H1 and H2 are intersecting and have a cD 2 (15)
s11 s12
common line O1O2 which is parallel to AB. In chain-leg C2, joint axes
A’P3 and B’P3 are perpendicular and form a plane H3, joint axes C’P4 Substituting the vectors s11 and s12 into Eq. (18), the solution can
and D’P4 are perpendicular and form a plane H4. The common line be obtained as
O3O4 formed by the two planes H3 and H4 is parallel to A’B’. Hence, r2 ( acT ) 2  a(2cT  c(2T )  1)
the two common lines are parallel and form a plane H0. x (16)
2(sT ) 2
For the two limbs 1 and 2 of the closed-loop subchain in Fig. 12,
the motion screw systems S11 and S12 are given by
­$11 > cT 1 sT r0sT  r1 r0sT  r1cT r0 (cT  1) @T
°
°$12 > r0  x  r0 0  r0 r1 r1 ( x  r0 ) r0 x @T
°
S11 ® (17)
°$13 > r0  x r0 0 r0 r1 r1 (r0  x)  r0 x @
T

°
°̄$14 > cT 1 sT r1  r0sT r1cT  r0sT r0 (cT  1) @
T

­$21 >cT 1 sT r1  r0sT r0sT  r1cT r0 (1  cT ) @

T

°
°$22 > r0  x 0  r0 r1 r1 ( x  r0 ) r0 x @
T
° r0
S12 ® (18)
> r0  x 0 r0 r1 r1 (r0  x) r0 x @
T
°$23 r0
°
>cT 1 sT r0sT  r1 r1cT  r0sT r0 (1  cT ) @
T
°̄$24
Fig. 11. Metamorphic parallel mechanism with two identical
chain-legs Based on the motion-screw systems, the basis of the constraint-
screw system S1r exerted on the output link 5 by limbs 1 and 2 can
When the metamorphic mechanism moves to the configuration be yielded as
where AD, BC, A’D’ and B’C’ are perpendicular to the base and
platform, the eight common points A, A’, B’, B, D, D’, C’ and C form a ­$1r > 0 0 1 r0  r0 0@T
°
cuboid. The plane H0 is parallel to the XOY plane and has a common °$ r > ( x  r ) / r 1 0 0 0 w@T
point O’ with XOZ and YOZ planes. In this configuration, XOZ, YOZ ° 2 0 0
S1r ® (19)
and H0 are the symmetric planes of the metamorphic mechanism. °$3 > 0 0 1 r0 r0 0@
r T

Consider the kinematic structure of the closed-loop subchain in Fig. 8 ° r

°̄$4 > (r0  x) / r0 1 0 0 0 w@
T
and the configuration in Fig. 12, the axes of joints attached to the distal
end of links 3 and 7 are parallel respectively. Thus, the axes of joints
where
e3 and e8 are located in the XOY plane and have a common point Q1,
and the axes of joints e4 and e7 are parallel to the XOY plane and have w ( r1 ( r0  x )  r0 xsT  r0 r1cT ) /( r0sT ) (20)
a common point Q2 in the configuration in Fig. 12. The local frame Hence, the possible motion screws of the output link 5 are
O’-X’Y’Z’ associated with the closed-loop subchain of C1 can be reciprocal to the constraint-screw system and can be calculated as
established by shifting along the Z axis by a distance of r1 in Fig. 12. ­°$1 > 0 0 1 0  w 0@T
S1 ® (21)
°̄$2 > 0 1 0 0 0 r0 @
T

The above presents two degrees of rotational freedom of the output

link 5 with respect to the base link 1 in the closed-loop subchain.
The screws of the two revolute joints connected to the base and
platform in the chain-leg C1 expressed in the local frame O’-X’Y’Z’
are
>0 1 0 r1 0 r0 @
T
$e1 (22)

>0 1 0  r1 0 r0 @
T
$e10 (23)
where the subscript e1 and e10 are the notation of revolute joints
corresponding to the kinematic chain in Fig. 8.
Together with the basis of the equivalent screw system in Eq.
(21), they form a three-system of the chain-leg C1. The constraint-
screw system of C1 is then obtained as
Fig. 12. Closed-loop subchain of chain-leg C1 in a symmetrical
configuration ­$11r >0 0 1 0 r0 0@T
°
°
Sc1r ®$12r > 0 1 0 0 0 w@
T
In the local coordinate frame O’-X’Y’Z’, the coordinates of Q1 (24)
° r
°̄$13 >0 0 0 1 0 0@
and Q2 are (x, 0, -r1) and (x, 0, r1) respectively, and the vectors T

pointing in the direction of screws $11 and $12 can be expressed as

s11 ( cT , 1, sT ) (13) The system presents two constraint forces parallel to Z- and Y-axis,
and one couple perpendicular to YOZ plane.
s12 ( x  r0 , r0 ,0) (14)

7
 Since the two chain-legs C1 and C2 are symmetrical with YOZ Presume (x1, y1, z1) and (x4, y4, z4) are the coordinates of points O1
plane in the configuration in Fig. 12, the constraints exerted on the and O4 in the global frame O-XYZ, the constraint-screw system of the
platform by C2 can be obtained similarly to that by C1. platform can be expressed in the global frame as
The constraint screws exerted on the platform by C1 and C2 form ­$11r > cE 0 sE 0  r0sE 0@T
a five system, and the constraint-screw system expressed in the global °
frame is °$12r >0 1 0  z1 0 x1 @T
°
­$11r > 0 0 1 0  r0 0@T °
S r ®$13r > 0 0 0 sE 0 cE @
T
° (30)
°$12r >0 1 0 r1 0 w@T ° r
°$21 > cE 0 sE 0 r0sE 0@
T
°
° ° r
S r ®$13r > 0 0 0 1 0 0@
T

°̄$22 > 0 1 0  z4 0 x4 @
(25) T

° r
°$21 > 0 0 1 0 r0 0@
T
where (-cȕ, 0, sȕ) is the unit vector pointing in the direction of screw
° r
°̄$22 > 0 1 0  r1 0  w@ $11r and $21r .
T

The possible motion screw system of the platform reciprocal to

The possible motion-screw system S of the platform reciprocal to
the constraint-screw system is obtained as
the constraint-screw system Sr is obtained as
>0 0 0 sE 0 cE @
T

>0 0 0 1 0 0@
S $p1 (31)
T
S = $p1 (26)
The motion screw shows that the platform has one translational
where the subscript ‘p’ represents the platform. The motion screw
motion.
shows that the platform has one translational motion in the
5.3 Bifurcated Motion Branch with Three Screw Motions
configuration in Fig. 12.
When the platform implements rotation motion and passes the
Since the parameters r0 and r1 remain constant, the constraint-
transitory position, the second motion branch can be realized. In terms
screw system Sr degenerates only when w = 0. Substitute Eq. (16) into
of equivalent screw system [36-38], each chain-leg connecting the
(20) and rearrange it, the following is given:
platform to the base can be taken as two identical limbs with spherical
r0 (1  (cT ) 2  c(2T ))  2cT 2r1 (cT )3  r1 (cT ) 2 joint [39] at each end of the limb and the equivalent model of the
 0 (27)
2sT 2(sT ) 2 metamorphic mechanism for constraint analysis is derived in Fig. 14.
Since 0 d T d S , the solutions of Eq. (27) can be obtained as
T arccot(r0 / r1 ) (28)
Under such a condition, the motion-screw system of the platform
is calculated as
­$p1 > 0 0 1 0 0 0@T
°
S=® (29)
°̄$p2 > 0 0 0 1 0 0@
T

The above motion screws represent that the metamorphic mechanism

is in the transitory position [26] and the platform can either translate in
the X direction or rotate around Z-axis.
5.2 Bifurcated Motion Branch with One Translation (a)
When the platform implements translational motion along the X-
axis from the transitory position, disposition of constraints exerted on
the platform by the two chain-legs is changed and illustrated in Fig.
13.

(b)
Fig. 14. Kinematic structure of the metamorphic mechanism and
equivalent model with bifacial constraint forces

Since the platform is rotating about Z-axis which is normal to the

base starting from the transitory position, the four limbs are
symmetrically arranged in quadrants and the constraint screws exerted
by the four limbs can be expressed in the global coordinate frame as
Fig. 13. Disposition of constraints in the configuration of motion
­$e1r >l m n rn rn r (l  m ) @
T
branch with one translation
°
°$e2r > m l n rn rn r (l  m) @
T

The constraint forces S11r and S 21r are parallel, and S12r and °
Sr ® r (32)
> l m n rn rn r (l  m) @
T
r
S 22 are collinear with O1O2 and O3O4 respectively. The two couples °$e3
° r
> m l n rn rn r (l  m) @
T
S13r and S 23
r
are parallel and normal to the plane formed by A, B, C °̄$e4
and D, and that by A’, B’, C’ and D’.

8
where (l, m, n), (m, -l, n), (-l, -m, n) and (-m, -l, n) are the unit vectors where (l1, m1, n1), (l2, m2, n2) are the vectors pointing in the direction
pointing in the direction of screws $e1r to $e4r , the subscript ei denote of screws $12 and $22, (a, b, c) and (a, b1, c) are the coordinates of
points C and D in the local frame, b1 = b-2r0.
the equivalent screws. The constraint screws form a three-system and
Hence, a basis of output link motion-screw system is given as
the twist system S of the platform can be calculated as
­°$1 > 0 0 0 c 0 a @T
­ ª rn(l  m) rn(m  l ) º
T
S1 ® (37)
°$1 «1 0 0 » °̄$2 >0 0 0 r0  b 1 0@
0 T
° ¬ (l 2  m 2 ) (l 2  m 2 ) ¼
° T The two revolute joints connecting platform to base in chain-leg
° ª rn(l  m) rn(l  m) º
S ®$2 «0 1 0  2 0 » (33) C1 expressed in local frame O’-X’Y’Z’ are
° ¬ (l  m 2 ) (l 2  m 2 ) ¼
>0 1 0 0 0 0@
T
$e1 (38)
°
°$ ª0 0 1 0 0  r (l  m) º
T

>0 1 0 c 0 a @
T
° 3 « » $e10 (39)
¯ ¬ n ¼
Together with the two screws in Eq. (37), the constraints exerted
In the twist system, the pitches of motion screws $1, $2 and $3 are on the platform by chain-leg C1 can be obtained as
h1 h2 rn(l  m) /(l 2  m 2 ), h3 r (l  m) / n (34) ­$11r > a b  r0 c 0 0 0@T
This gives the first special three-system with all the reguli lying on the °
°
Sc1r ®$12r > 0 0 0 1 0 0@
T
hyperboloids of revolution about the z-axis [24] with two screws (40)
having the equal pitch in the twist system. ° r
°̄$13 > 0 0 0 0 0 1@
T
5.4 Bifurcated Motion Branch with Two Translations
In the aforementioned configurations, the planes H1 and H2 Similarly, the constraints exerted on the platform by the chain-leg
associated with chain-leg C1 have common line O1O2, and the planes C2 can be obtained in local frame associated with C2. The constraints
H3 and H4 associated with chain-leg C2 have common line O3O4. by the two identical chain-legs expressed in the global frame O-XYZ
When the metamorphic parallel mechanism changes to the are given by
configuration in Fig. 15, the planes H1, H2, H3 and H4 associated with
­$11r > L M N 0 r0 N r0 M @T
each chain-leg are parallel respectively and the platform is parallel to °
the base. °$ r >0 0 0 cT 0 sT @T
° 12 1 1

°$ r > 0 0 0 sT 0 cT @T
° 13 1 1
Sr ® (41)
°$21 > L M N 0 r0 N  r0 M @
r T

° r
°$22 >0 0 0 cT 2 0 sT 2 @
T

° r
°̄$23 > 0 0 0 sT 2 0 cT 2 @
T

in which
L acT1  csT1  r0 , M b  r0 , N ccT1  asT1
where ș1 and ș2 are the angles measured from XOY plane to planes H1
and H3 respectively.
The platform motion screws are reciprocal to Sr and a basis is
calculated as
­$p1 > 0 0 0  N 0 L @T
Fig. 15. Motion branch with two translations °
S=® (42)
°̄$p2 > 0 0 0  M L 0@
T

According to the geometry of the metamorphic mechanism in this

configuration, the origin of the local frame O’-X’Y’Z’ is attached to the so the platform has two translational degrees of freedom.
midpoint of AB. The X’-axis is perpendicular to AB and passing the
common point P1, Y’-axis is collinear with AB and Z’-axis is normal to
plane H1. 6 Topological Variation of the Metamorphic Parallel
In the local frame O’-X’Y’Z’, the motion-screw system S11 and Mechanism
S12 of limbs 1 and 2 in Fig. 15 can be given by
­$11 >1 1 0 0 0 r0 @T The previous sections present both the topological phase change
° resorting to physical constraints induced by links annex of the
°$12 >l1 m1 n1  r0 n1 0  r0l1 @T metamorphic chain and the bifurcated motions induced by geometric
°
S11 ® (35) constraints of the metamorphic parallel mechanism. In this section, the
°$13 >l1 m1 n1 n1b1  cm1 cl1  an1 am1  l1b1 @
T
links annex induced topological subphases and phase changes of the
° metamorphic parallel mechanism are presented.
°̄$14 >1 1 0 c c r0  a  b @
T
6.1 Topology Variation of the Metamorphic Mechanism
Since the metamorphic mechanism in Fig. 11 is constructed with
­$21 >1 1 0 0 0  r0 @
T

° two identical metamorphic chains in Fig. 8 as chain-legs, the

°$ > l2 0  r0l2 @ metamorphic parallel mechanism is able to change its topological
T
° 22 m2 n2 r0 n2
configurations and the phase changes are occurred in accordance with
S12 ® (36)
> l2 bn2  cm2 cl2  an2 am2  bl2 @
T
°$23 m2 n2 structure evolution of the chain-legs. Consider the symmetrical
° structure of the metamorphic mechanism and the 8 topological
>1 1 0 c c a  b @
T
°̄$24 subphases of the metamorphic chain in Table 2, subphases of the
metamorphic mechanism in Fig. 11 can be enumerated in Table 3
based on combination [9] of different phases including the source

9
phase and subphases of the metamorphic chain with consideration of
kinematic geometry [24, 25].

Table 3: Subphases of the metamorphic parallel mechanism

Sub- Combination of Sub- Combination of
phases chain-legs phases chain-legs
1 M 1 [C12 , C2s ] 11 M 11 [C16 , C26 ]
2 M2 [C14 , C2s ] 12 M 12 [C16 , C28 ]
3 M3 [C16 , C2s ] 13 M 13 [C18 , C28 ] (a) (b)
Fig. 17. Two orientation switch position
4 8 s 14 1 s
4 M [C , C ]
1 2
14 M [C , C ]
1 2
5 2 2 15 In particular, the mechanism is foldable with properly design of
5 M [C , C ]
1 2
15 M [C13 , C2s ]
parameters of the base and platform and the length of links 3 and 7. In
6 M6 [C12 , C24 ] 16 M 16 [C15 , C2s ] other words, when the distance between any two adjacent common
points in each chain-leg are equal, the mechanism can be folded during
7 M7 [C12 , C26 ] 17 M 17 [C17 , C2s ]
the processing of orientation switch of the platform and the foldability
8 M 8 2
[C , C ]
1
8
2
18 M 18
[C11 , C21 ] is verified by the physical device in Fig. 18. The parameter design can
be expressed as r = r1.
9 M9 [C14 , C24 ] 19 M 19 [C13 , C23 ]
10 M 10 [C14 , C28 ] 20 M 19 [C13 , C23 ]

The notation Mi in table 3 denote the subphases of the metamorphic

parallel mechanism.
The transformation between parent phases and offspring phases
of the metamorphic mechanism is resorting to links annex same to the
phase change of the metamorphic chain. Four typical subphases in
which the platform implements translation motion are illustrated in Fig. 18. Physical device of the metamorphic mechanism
Fig. 16.
Consider geometry of the mechanism in the extreme
configuration, redundant actuation [40] can be employed in the
metamorphic kinematic pair for generating drive torque to facilitate
the metamorphic mechanism to get out from the extreme structure.

7. Conclusions
This paper presented topological analysis for metamorphic
mechanisms based on the unified elementary matrix operation. A new
(a) M 5 [C12 , C22 ] (b) M 9 [C14 , C24 ]
metamorphic kinematic pair and its evolved metamorphic chain and
metamorphic parallel mechanism are investigated. The topological
phase change in the kinematic pair and the metamorphic chain are
explored based on phase matrix, augmented adjacency matrix and
digraph. The bifurcated motions induced by geometric constraint and
the topological variation induced by physical constraint are revealed
resorting to link annexing of the metamorphic parallel mechanism.
The proposed unified matrix operation developed form modified
EU-elementary matrix is able to describe not only the phase change
from a source phase (the parent phase) to subphases (the offspring
phases), but also that from subphases to the source phase. The
(c) M 11 [C16 , C26 ] (d) M 13 [C18 , C28 ]
presented approach casts light in presentation and analysis of
Fig. 16 Sketch of four subphases with translational motion topological change of this kind of mechanisms. With the introduction
of joint codes, the augmented adjacency matrix is able to distinguish
6.2 Evolved Orientation Switch of the Platform and Foldable different kinematic structures having the same adjacency matrix and
Characteristics graph representation. The physical constraints resorting to link
In the aforementioned third motion branch, the metamorphic annexing in the process of topological phase-change are addressed and
kinematic chain C1 is able to change its structure by changing the the geometric constraints induced bifurcated motions in original
virtual metamorphic pairs at common points A and C to their second topological phase are presented in the study of the metamorphic chain
subphase and that at common points B and D to their first subphase. and the metamorphic parallel mechanism. The study revealed that new
The axes of the two revolute joints e10 and e1 become perpendicular. mechanisms can be evolved in the process of structure evolution of
Accordingly, platform of the metamorphic mechanism implement metamorphic mechanisms.
clockwise screw motion about Z-axis from the transitory position and
terminated at the extreme position in Fig. 17(a).
Comparing to the extreme configuration in Fig. 17(a), the chain- 8. Acknowledgment
leg C1 of metamorphic mechanism is changed to the structure in Fig. The authors thank the support of the National Natural Science
17(b) by changing the virtual metamorphic pair at common points A Foundation of China under grant number 50675016 and the support of
and C to first subphase and that at B and D to second subphase.

10
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