Topological structural synthesis of 4-DOF serial-parallel hybrid mechanisms

Qiang Zeng*, Yuefa Fang, Kornel F. Ehmann

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

20 Scopus citations


This paper analyzes the basic forms of 4-DOF spatial motions through the introduction of logical propositions for the topological structural synthesis of multiloop hybrid spatial mechanisms. The proposed method for the topological structural synthesis is based on displacement group theory and consists of two elements. First, spatial multiloop detachment (SMD) is proposed for the analysis of the output motion relations in multiloop topological arrangements. Second, configuration cards for displacement subsets of subchains (CCDS) are developed for subchain design. To demonstrate the applicability of SMD and CCDS to the four basic forms of 4-DOF motions, 12 novel serial-parallel hybrid mechanisms are synthesized that include the nonspanning tree netted form of topological arrangements.

Original languageEnglish (US)
Article number091008
JournalJournal of Mechanical Design - Transactions of the ASME
Issue number9
StatePublished - 2011


  • 4-DOF motions
  • displacement group theory
  • hybrid mechanisms
  • logical proposition
  • topological structural synthesis

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


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