Reconfigurable mechanisms provide increased flexibility in machine design and can be used in a variety of applications. Variable joints in reconfigurable mechanisms allow for machine designs that better optimize space and resources. This paper synthesizes the motion profiles of prismatic-prismatic higher variable joints based upon the configuration space approach. Variable joints enable the creation of Type II Mechanisms with Variable Topology, mechanisms whose topology changes due to changes

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... joint geometry. The goal of this synthesis is to be able to analyze the motion profile, allowing to understand the design constraints of these joints as well as outline the design for the practical implementation of these joints.