Applications of Constraint Graphs and Assur Groups in Mechanism Analysis and Synthesis

Abstract

Assur groups and correspondingly Assur graphs have key attributes that make them important for the analysis and synthesis of linkages. The topology of linkages (more precisely the existence of constraints between links) in general can be represented by various types of constraint graphs. The concept of Assur graphs applies to any such graph and thus their peculiar features can be exploited. Despite of these potential benefits the relevant methods and tools are scattered in the literature. The aim of this paper is to provide an overview of the use of constraint graphs including recent results on the construction of Assur graphs.