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This paper presents a reconfigurable Bricard mechanism with rolling joints capable of achieving multiple distinct motion modes. The mechanism combines four revolute joints and two rolling joints, each equipped with synchronous cables and tape springs to drive motion and provide self locking at kinematic bifurcations for kinematic reconfiguration. The instantaneous screw axis (ISA) of the rolling joints is analyzed, and an equivalent Bricard mechanism representing the system is derived. The mechanism’s kinematic reconfiguration, including plane-symmetric Bricard motion and arc-translation motion, is characterized using screw system geometry. Finally, a 3D printed prototype is used to validate the predicted multimodal motions of the reconfigurable mechanism.

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Design and Kinematic Geometric Analysis of a Reconfigurable Bricard Mechanism with Rolling Joints

  • 会议论文

  • 发表日期：

    2026年

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  • Tianye Xu,
  • Huanxiao Li,
  • Long Li,
  • Shengnan Lyu

摘要

This paper presents a reconfigurable Bricard mechanism with rolling joints capable of achieving multiple distinct motion modes. The mechanism combines four revolute joints and two rolling joints, each equipped with synchronous cables and tape springs to drive motion and provide self locking at kinematic bifurcations for kinematic reconfiguration. The instantaneous screw axis (ISA) of the rolling joints is analyzed, and an equivalent Bricard mechanism representing the system is derived. The mechanism’s kinematic reconfiguration, including plane-symmetric Bricard motion and arc-translation motion, is characterized using screw system geometry. Finally, a 3D printed prototype is used to validate the predicted multimodal motions of the reconfigurable mechanism.