Articles | Volume 17, issue 2
https://doi.org/10.5194/ms-17-813-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-17-813-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
17 Aug 2026
Research article |
| 17 Aug 2026
| 17 Aug 2026
Research on reconfigurable kinematic analysis and type synthesis of planar prismatic Rubik's cube mechanism
Dabao Fan
CORRESPONDING AUTHOR
College of mechanical and electrical engineering, Suqian University, Suqian 223800, P.R. China
Daxing Zeng
School of Mechanical Engineering, Dongguan University of Technology, Dongguan 523808, P.R. China
Yuming Zhao
College of mechanical and electrical engineering, Suqian University, Suqian 223800, P.R. China
Haibing Feng
College of mechanical and electrical engineering, Suqian University, Suqian 223800, P.R. China
Yunjiao Deng
School of Mechanical Engineering, Dongguan University of Technology, Dongguan 523808, P.R. China
School of Mechanical Engineering, Dongguan University of Technology, Dongguan 523808, P.R. China
Related authors
Dabao Fan, Haibing Feng, Yuming Zhao, Ya Liu, Yunjiao Deng, and Daxing Zeng
Mech. Sci. Discuss., https://doi.org/10.5194/ms-2026-170, https://doi.org/10.5194/ms-2026-170, 2026
Preprint under review for MS
Short summary
Short summary
This paper proposes a parallelogram-based adaptive grasping device to overcome the limitations of conventional rigid grippers. It integrates adaptive parallelogram units and a 2-RRR planar parallel driving mechanism. Screw theory and kinematic analysis validate its performance, while a bevel gear set minimizes driving motors. Grasping tests confirm its favorable dimensional adaptability, providing theoretical and engineering references for adaptive grasping equipment design.
Dabao Fan, Haibing Feng, Yuming Zhao, Ya Liu, Yunjiao Deng, and Daxing Zeng
Mech. Sci. Discuss., https://doi.org/10.5194/ms-2026-170, https://doi.org/10.5194/ms-2026-170, 2026
Preprint under review for MS
Short summary
Short summary
This paper proposes a parallelogram-based adaptive grasping device to overcome the limitations of conventional rigid grippers. It integrates adaptive parallelogram units and a 2-RRR planar parallel driving mechanism. Screw theory and kinematic analysis validate its performance, while a bevel gear set minimizes driving motors. Grasping tests confirm its favorable dimensional adaptability, providing theoretical and engineering references for adaptive grasping equipment design.
Yuming Zhao, Haibing Feng, Huiyuan Chen, and Yanbing Xing
Mech. Sci., 17, 495–509, https://doi.org/10.5194/ms-17-495-2026, https://doi.org/10.5194/ms-17-495-2026, 2026
Short summary
Short summary
This paper proposes a novel 4-degree-of-freedom parallel mechanism. Its degrees of freedom are verified by screw theory. Inverse position, velocity, and acceleration models are established. The position workspace is obtained, and singular configurations are identified. The stiffness index distribution in the workspace is visualized. The inverse dynamic model is derived using the Lagrangian method. Kinematic and dynamic simulations in Adams verify the correctness of the theoretical model.
Short summary
A planar prismatic Rubik's cube mechanism is defined as a Rubik's-cube-inspired mechanism where components only carry out planar motion. Based on a physical prototype, this paper illustrates the composition, topological configuration, and reconfigurable motion process of the mechanism. The type synthesis method proposed in this paper not only creates more novel mechanism configurations but also enriches and improves the type synthesis theories for planar mechanisms.
A planar prismatic Rubik's cube mechanism is defined as a Rubik's-cube-inspired mechanism...
