This paper provides a classification system and naming convention for twelve novel types of 4R-RRRP mechanisms with variable topology (MVTs). A mechanism with variable topology is a mechanism that changes from one topological state to another due to a change in joint geometry. An example 4R-RRRP mechanism is provided for each novel mechanism type, along with the appropriate classification and naming convention. The new 4R-RRRP mechanism classes and naming conventions presented in this paper will aid designers in the analysis and synthesis of 4R-RRRP mechanisms. These novel MVTs have practical applications in areas such as manufacturing, space applications, and novel medical devices.

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