Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N-1
Journal of Mechanisms and Robotics
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.
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Copyright © 2008, American Society of Mechanical Engineers
American Society of Mechanical Engineers
Myszka, David H.; Murray, Andrew P.; and Schmiedeler, James P., "Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N-1" (2008). Mechanical and Aerospace Engineering Faculty Publications. 182.