Structural synthesis of serial-parallel hybrid mechanisms via group theory and representation of logical matrix

This contribution presents different type of serial-parallel hybrid mechanisms by group theory and logical matrix. A novel representation and logical operation of spatial mechanisms are developed. The hybrid mechanisms can be categorized into two types, closed-type and opened-type hybrid mechanisms. According to the group theory and mobility criterion, the closed-type hybrid mechanisms can be determined by the number of moving platforms, while the opened-type hybrid mechanisms can be developed into different classes, simultaneously, the iterative formula of opened-type hybrid mechanisms is obtained. Finally, two examples of hybrid mechanisms are illustrated based on the given logical operations.