Improvement on Planar Mechanism Composition Principle

By investigation of movement of the Assur groups in normal connecting condition, and by inspection of the kinematic pair concept, the conclusions were found that “The freedom of Assur group is zero” in the Planar Mechanism Composition Principle conflicts with the fact that Assur group can move, and the external kinematic pairs of Assur group are inconsistent with the kinematic pair concept. Proposals were put forward then that the motion...