School of Automation;
Beijing University of Posts and Telecommunications;
Beijing 100876;
China;
College of Mechanical and Electrical Engineering;
Shaanxi University of Science and Technology;
Xi’an 712000;
China;
Beijing Post Intelligent Equipment Engineering Technology Research Center;
Beijing 100876;
China;
Department of Mechanical Engineering;
York University;
Toronto;
Canada;
School of Engineering and Physical Sciences;
Heriot-Watt University;
Edinburgh EH144AS;
UK.;
Reciprocal screws; Reconfigurable-axis(rA)joint; Metamorphic parallel mechanism; Constraint analysis;