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For realizing automatically phase change of a metamorphic mechanism with reconfigurable spherical joint, phase-stabilization using controlling technique is discussed in this paper. The issue is regarded as underactuated four-rigid-bodies dynamic system and can be divided into two subsystems from the point of view of controlling. The efficiency of controller is demonstrated by simulation together with the discussion about the designing of parameters.

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On the Controller Design of a Reconfigurable Spherical Joint for U-Phase Stabilization

  • 会议论文

  • 发表日期：

    2026年

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  • Lei Yang,
  • ZhaoHui Liu,
  • Jin Xie

摘要

For realizing automatically phase change of a metamorphic mechanism with reconfigurable spherical joint, phase-stabilization using controlling technique is discussed in this paper. The issue is regarded as underactuated four-rigid-bodies dynamic system and can be divided into two subsystems from the point of view of controlling. The efficiency of controller is demonstrated by simulation together with the discussion about the designing of parameters.