Position analysis in analytical form of the 7-link assur kinematic chain featuring one ternary link connected to ternary links only

The paper presents the analytical-form position analysis of one of the three existing 7-link Assur kinematic chains, precisely the one featuring three binary links and four ternary links, one of the ternary links being joined to the other three. The analysis results in a 14th order polynomial equation in one unknown whose 14 roots correspond, in the complex domain, to as many assembly configurations. The contribution widens the set of planar linkages whose kinematic analysis can be thoroughly and exhaustively solved. A case study is finally provided. © 1997 Elsevier Science Ltd. All rights reserved.