Platform morphs into arm
By switching motion branches of dual 3-UPr(S/U) parallel mechanisms, the robot morphs from a hexapod platform into a six-DOF arm without adding active joints, offering three locomotion modes and multiple gaits.
Chao, Chai · Li, Ruiqin · Guo, Wenxiao · Ning, Fengping · Zhang, Lei
Robotics and Autonomous Systems 2026
Switches to a six-DOF parallel robotic arm
Three locomotion modes
Multiple gaits
No additional active joints added