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A Systematic Formulation of Overconstraint Conditions in Kinematic Chains by Displacement Groups

[+] Author Affiliations
Carlo Galletti, Pietro Fanghella, Elena Giannotti

University of Genova, Genova, Italy

Paper No. DETC2005-84442, pp. 983-991; 9 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


The paper describes a systematic approach to define geometrical and dimensional overconstraint conditions for single-loop kinematic chains of both “banal” and “exceptional” types. The approach is an application of the theory of displacement groups. It presents several interesting features: it can be easily integrated with mobility analysis; it makes use of geometric data local to links and does not require a preliminary mechanism assembly nor a given initial congruent position; it is systematic and can be suitably implemented in a computer code; it suggests where geometrical and dimensional tolerances have to be located; it can be embedded in other group-based approaches, like kinematic synthesis or dynamic analysis. After a brief summary of the properties of displacement groups and their operations, the paper shows how they can be used to formulate systematically the overconstraint conditions in kinematic chains. A computer implementation of the approach is also outlined, and several examples with different complexities are given.

Copyright © 2005 by ASME
Topics: Chain , Displacement



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