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Through analyzing the topologic change of the folding process of the pattern and treating it as a reconfigurable joint, a new reconfigurable parallel mechanism with 3, 4, 5, or 6 degrees of freedom is obtained. Then, the kinematics solution, workspace, and singularity of the mechanism are calculated. The results indicate that the singular configuration of the origami-derived reconfigurable parallel mechanism is mainly located in a special plane, and the scope of the workspace is still large after the configuration change. The mechanism has the potential to adapt to multiple tasks and working conditions through the conversion among different configurations by folding reconfigurable joints on the branch chain.<\/jats:p>","DOI":"10.1017\/s0263574724000560","type":"journal-article","created":{"date-parts":[[2024,4,19]],"date-time":"2024-04-19T07:50:52Z","timestamp":1713513052000},"page":"1861-1884","source":"Crossref","is-referenced-by-count":5,"title":["Design and singularity analysis of a parallel mechanism with origami-inspired reconfigurable 5R closed-loop linkages"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5652-3984","authenticated-orcid":false,"given":"Yili","family":"Kuang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3053-7901","authenticated-orcid":false,"given":"Haibo","family":"Qu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0377-9182","authenticated-orcid":false,"given":"Xiao","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2885-0504","authenticated-orcid":false,"given":"Xiaolei","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sheng","family":"Guo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2024,4,19]]},"reference":[{"key":"S0263574724000560_ref2","unstructured":"[2] Schenker, P. 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