Title

Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N-1

Document Type

Article

Publication Date

8-2008

Publication Source

Journal of Mechanisms and Robotics

Abstract

This paper presents an analysis to create a general singularity condition for a mechanism that contains a deformable closed contour. This kinematic architecture is particularly relevant to rigid-link, shape-changing mechanisms. Closed contour shape-changing mechanisms will be shown to belong to the Assur classification because of the pattern of interconnections among the links. The general singularity equations are reduced to a condensed form, which allows geometric relationships to be readily detected. The analysis is repeated for alternative input links. A method for formulating the singularity condition for an Assur Class N, knowing the condition for a Class N--1 mechanism, is given. This approach is illustrated with several examples.

Inclusive pages

011009-1 to 011009-7

ISBN/ISSN

1942-4302

Comments

Permission documentation is on file.

Publisher

American Society of Mechanical Engineers

Volume

1

Issue

1

Peer Reviewed

yes