Structural analysis and configuration synthesis of mechanisms with variable topologies

A mechanism which encounters a certain changes in its topological structure during operation is called a mechanism with variable topologies. This paper is devoted to introducing a set of approaches for the structural analysis and configuration synthesis of mechanisms with variable topologies. The variable kinematic chains and variable kinematic joints are described first. Then, the representation and identification of topological and motion state characteristics of such mechanisms are developed. The mobility analysis and configuration singularity are addressed. Finally, a methodology for the configuration synthesis problem is put forward.