# Virtual and Physical Prototyping of Reconfigurable Parallel Mechanisms with Single Actuation  
[PERSON]  
1 Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia; [EMAIL_ADDRESS] (D.P. ); [EMAIL_ADDRESS] (A.A.); [EMAIL_ADDRESS] (V.G.) [PERSON]  
1 Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia; [EMAIL_ADDRESS] (D.P. ); [EMAIL_ADDRESS] (A.A.); [EMAIL_ADDRESS] (V.G.) [PERSON]  
1 Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia; [EMAIL_ADDRESS] (D.P. ); [EMAIL_ADDRESS] (A.A.); [EMAIL_ADDRESS] (V.G.) [PERSON]  
1 Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia; [EMAIL_ADDRESS] (D.P. ); [EMAIL_ADDRESS] (A.A.); [EMAIL_ADDRESS] (V.G.) [PERSON]  
2  
+++ ==WARNING: Truncated because of repetitions==
{}  
++  
each with grooves at both ends serving as spherical joints. A 5R 2-DOF parallel robotic arm for handling paper pot seedlings in a vegetable transplanter is proposed in [10]. The elements of the arm, including a gear box for its actuation, are 3D printed. Authors of [11] demonstrate a 3-DOF spatial compliant parallel mechanism for high-precision manipulation that was 3D printed from alloy Ti-6 Al-4V. Authors of [12] present a spherical 3-RRR manipulator with coaxial input shafts. The manipulator design allows for unlimited rotational capability around the vertical axis. Another 3D printed spherical 3-RRR manipulator is shown in [13]. It applies as a shoulder of a prosthetic device. Authors of [14] consider the optimal design of one more spherical 3-RRR manipulator. The structure of one leg was changed to reduce the singularities within the workspace. Authors of [15] present a reconfigurable parallel mechanism with RRPS chains, where only prismatic joints are actuated and a base-coupled revolute joint in each chain can lock or turn during the mechanism motion. Authors of [16] show a 3-DOF parallel manipulator designed as a tripod. This manipulator can be used as a leg for walking systems. The presented research is directed at virtual and physical prototyping of the mechanism, which belongs to a class of reconfigurable parallel mechanisms (RPMs). Mechanisms of this type can change their configurations to reproduce various end-effector trajectories or vary workspace dimensions. These mechanisms can also change the number of DOFs when their structure remains unchanged [17; 18]. Some RPMs provide change-type of end-effector movements when passing through singular positions [19]. Such mechanisms also have the key advantages of parallel systems: high rigidity, ability to manipulate heavy loads and high positioning accuracy [20; 21; 22]. Possible practical applications of RPMs include rehabilitation medicine [23], gripping operations [24], additive technologies [25; 26], machine elements processing [27; 28; 29] and force sensors [30]. One should note that the RPMs in the studies mentioned above include multiple actuators. It makes their structure and control more complex. In this study, we present a model of a novel RPM with the least possible number of actuators, i.e., with one actuator. In contrast to the known RPMs, the presented one does not have additional kinematic chains or modular elements, which are used only for reconfiguration. In this regard, the proposed study aims to develop the virtual and physical prototyping algorithms for the RPMs actuated from a single drive. The physical prototyping is based on the 3D printing technologies. The rest of the paper is organized as follows. Section 2 discusses different mechanism designs of the created RPMs having three to six legs and mobility from four to one.