| contributor author | David H. Myszka | |
| contributor author | James P. Schmiedeler | |
| contributor author | Andrew P. Murray | |
| date accessioned | 2017-05-09T00:34:38Z | |
| date available | 2017-05-09T00:34:38Z | |
| date copyright | February, 2009 | |
| date issued | 2009 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-27973#011009_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/141508 | |
| description 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Singularity Analysis of an Extensible Kinematic Architecture: Assur Class N, Order N−1 | |
| type | Journal Paper | |
| journal volume | 1 | |
| journal issue | 1 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.2960542 | |
| journal fristpage | 11009 | |
| identifier eissn | 1942-4310 | |
| keywords | Mechanisms AND Equations | |
| tree | Journal of Mechanisms and Robotics:;2009:;volume( 001 ):;issue: 001 | |
| contenttype | Fulltext | |
