Reconfiguration of planar quadrilateral linkages utilizing the tensegrity principle

•Reconfiguration of conventional linkages by applying one-sided limited nonholonomic constraints.•Mechanical modeling of tensegrity-based mechanism using the Lagrange formalism.•Numerical simulation of equilibrium configurations/stiffness/kinematics/reconfiguration.•Development of a prototype of a reconfigurable tensegrity-based mechanism.•Experimental investigation of equilibrium configurations/stiffness/kinematics/reconfiguration.