Position problem in Assur's groups with revolute pairs

Abstract

This paper shows a methodology to solve the position problem in Assur's groups of any class exclusively using revolute pairs. The methodology is based on the elimination of a rigid bar of the Assur's groupwhich you want to get the position. The resulting 1-DOF linkage can be modeled with one group of primary elements and one or more Assur's groups of class lower than the original group. Then, an optimization problem consisted in finding the optimal value of the DOF for which the pairs, joined by the eliminated rigid bar, are separated by the original distance, is posed. This methodology also allows unequivocally choose the assembly mode to obtain the original Assur's group. © Springer Science+Business Media Dordrecht 2013.