For some practical applications, mechanisms are sophisticatedly
designed with changeable topologies in order to perform the
elaborate tasks. Such mechanisms are called the mechanisms with
variable topologies (MVTs). In the past decades, the
single-topology mechanisms had been explored exhaustively; however,
there are no obvious works which exclusively contribute to the
structural characteristics of MVTs. This book is, therefore,
devoted to the topology and configuration analysis of mechanisms
with variable topologies. First, the current research background of
MVTs is reviewed. Then, the topological variability of kinematic
joints and mechanisms is introduced. The representation and
identification of topological and motion characteristics of MVTs
are further provided. Finally, the mobility and special
configurations verified by the MVTs are discussed. The material
provides a fundamental introduction to the variable-topology
mechanisms and addresses some particular properties to this special
mechanism. It is suitable to be used as a reference book for the
courses of mechanisms and its related as well as for the advance
studies in mechanism and machine science.
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