Analytical-Form Position Analysis of the 7-Link Assur Kinematic Chain with Four Serially-Connected Ternary Links

[+] Author and Article Information
C. Innocenti

Dipartimento di Ingegneria delle Costruzioni Meccaniche, Università di Bologna, Viale Risorgimento, 2, 40136 Bologna, Italia

J. Mech. Des 116(2), 622-628 (Jun 01, 1994) (7 pages) doi:10.1115/1.2919423 History: Received March 01, 1993; Online June 02, 2008


The paper addresses the position analysis of the 7-link Assur kinematic chain that features three binary links and four serially-connected ternary links. The analysis, aimed at finding all possible assembly configurations of the Assur kinematic chain, is carried out by first devising a set of three constraint equations in a corresponding number of unknowns. Then, by an original elimination procedure, two out of the three unknowns are simultaneously dropped out. As a result, a final algebraic equation of degree sixteen with only one unknown and free from extraneous roots is obtained. The sixteen solutions of this equation provide as many assembly configurations for the Assur kinematic chain in the complex field. Finally, a case study is reported.

Copyright © 1994 by The American Society of Mechanical Engineers
Topics: Chain
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