Topological design and genetic synthesis of the variable topology parallel mechanisms

The definition of variable topology parallel mechanism is given, and the topology of the parallel mechanism is analyzed in this paper. The topology of parallel mechanism is described based on the genetic principle, and the variable topological ways are studied, according to the three elements including moving platform and fixed base, set of the chains, and the abuttal connection among the chains. A new approach called genetic synthesis in topological description and type synthesis of mechanisms combining genetic principle is given, the feasibility of which is verified and can be used in type synthesis of variable topology parallel mechanisms through the concrete examples.