Research Papers

Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N1

[+] Author and Article Information
David H. Myszka

 University of Dayton, Dayton, OH 45469dmyszka@udayton.edu

Andrew P. Murray

 University of Dayton, Dayton, OH 45469murray@notes.udayton.edu

James P. Schmiedeler

 The Ohio State University, Columbus, OH 43210schmiedeler.2@osu.edu

J. Mechanisms Robotics 1(1), 011009 (Aug 05, 2008) (7 pages) doi:10.1115/1.2960542 History: Received April 15, 2008; Revised June 26, 2008; Published August 05, 2008

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 N1 mechanism, is given. This approach is illustrated with several examples.

Copyright © 2008 by American Society of Mechanical Engineers
Topics: Mechanisms , Equations
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Figure 7

Singularity discussed in Example 1

Grahic Jump Location
Figure 6

Assur N∕(N−1) mechanism

Grahic Jump Location
Figure 5

Assur V/4 mechanism

Grahic Jump Location
Figure 4

Assur IV/3 mechanism

Grahic Jump Location
Figure 8

Singularity discussed in Example 2

Grahic Jump Location
Figure 9

Singularity discussed in Example 3

Grahic Jump Location
Figure 3

Mechanism with three links in the closed contour

Grahic Jump Location
Figure 2

A singularity configuration of an Assur V/4

Grahic Jump Location
Figure 1

Assur kinematic chain that becomes an Assur mechanism



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In