Abstract
AbstractAssur group is an open kinematic chain, which when added to any kinematic chain but not to the same link does not alter the degree of freedom of the chain. Assur group finds its application in synthesizing mechanisms, complex structures and robotics, wherein serial or parallel kinematic chains are required. The present work aims at synthesizing Assur group from N-link zero degree of freedom simple jointed kinematic chains and thus to present a complete collection of Assur groups. It is done by removing a link from the given kinematic chain and checking for its definition as Assur group. Also, identically disposed links are determined and removed so as to address the isomorphic Assur group during synthesis. In other words, isomorphism test is also adopted in the present work while reporting the complete collection.KeywordsAssur groupSimple jointed kinematic chainIsomorphism test
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