# Reconfigurable/Foldable Overconstrained Mechanism and Its Application
## 5 Conclusions  
The paper presents the results of a new six revolute joints (6R) overconstrained closed-loop mechanism. The kinematic analysis and virtual prototyping presented in the paper sets the background of the reconfigurable/foldable overconstrained mechanism and estimates results for applications in mechatronic and automotive systems, such as:  
Figure 16: Part processing stage: **(a)** Positioning on the table; **(b)** Internal view of the processed part.  
Figure 17: Assembled and functional mechanism: **(a)** Starting position; **(b)** Fist intermediate position; **(c)** Second intermediate position; **(d)** Final position.  
The mechanism can be used in elevators and jacks within the automotive industry because of good stability and fine tuning;
* Construction of hospital beds can be one of the largest benefits of this rhomb mechanism because it offers a complex movement type by using the translation motion of the joints. This translation of the joints defines very good precision; thus, the mechanism can be used in the construction of the fowler and the gatch. The integration of the mechanism will obtain better and more precise movement, thus creating enhanced comfort for different types of pathologies;
* The same precise movement can be used in the automotive industry by being integrated into the car seat to control the lumbar and headrest frames. The fine tune of the car seat can adjust the position of the driver with respect to the lines of physiological anatomy curvatures of the spine, avoiding, in this way, lordosis and kyphosis pathologies;
* This mechanism may also be used in the construction of wheelchairs for the fine control of lumbar and fowler positions;
* Another possible application could be in deployable devices or in various industrial areas, like entertainment/architecture area.  
This type of overconstrained 6R mechanism can be assembled in several ways, and the case presented in this paper, two mechanisms constrained in a rhombus, has the advantage of better stability than the one in which the mechanism is singular.  
Another example of a usage of the overconstrained 6R mechanisms is the assembly in hexagon and constraining the movement of active joints toward the center of the hexagon, as shown in Figures 6 and 18.  
The advantage of the hexagon assembly lies in the larger support base, resulting in better stability, but it involves the use of 6 superconstrained 6R mechanisms for a more complicated drive of the final system.  
There is also the possibility of overlapping several such devices, on several floors, the movement of exit from one floor (three non-adjacent joints from the lower floor) being the entrance movement to the next floor (three non-adjacent joints in the upper floor).  
Figure 18: Hexagon intermediate position.  
**Author Contributions:** Conceptualization, L.R. and L.M.; methodology, I.D. and L.R.; software L.M.; validation, L.R. and L.M.; formal analysis, M.R., I.D. and G.-M.B.M.; investigation, I.D. and M.R.; resources, L.M. and L.R.; writing--original draft preparation, L.R. and L.M.; writing--review and editing, L.M., L.R. and M.R.; supervision, I.D. and M.I. All authors have read and agreed to the published version of the manuscript.  
This research received no external funding.  
**In Institutional Review Board Statement:** Not applicable.  
**Informed Consent Statement:** Not applicable.  
**Data Availability Statement:** Not applicable.  
**Acknowledgments:** We especially thank CADWORKS International SRL for the support and help given in the elaboration of this work. [[https://www.cadworks.ro/](https://www.cadworks.ro/)]([https://www.cadworks.ro/](https://www.cadworks.ro/)) (accessed on 10 December 2021).  
**Conflicts of Interest:** The authors declare no conflict of interest.