Article
Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N-1
Journal of Mechanisms and Robotics
Document Type
Article
Publication Date
8-1-2008
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
Copyright
Copyright © 2008, American Society of Mechanical Engineers
Publisher
American Society of Mechanical Engineers
Peer Reviewed
Yes
Disciplines
Citation Information
David H. Myszka, Andrew P. Murray and James P. Schmiedeler. "Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N-1" Journal of Mechanisms and Robotics Vol. 1 Iss. 1 (2008) Available at: http://works.bepress.com/andrew-murray/22/
Permission documentation is on file.