Analysis of the Self-braking Effect of Linkage Mechanisms

  • Alexander N. EvgrafovEmail author
  • Vladimir I. Karazin
  • Gennady N. Petrov
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


When structural groups of linkage mechanisms approach singular positions, a self-braking effect may occur due to friction forces. By the example of structural groups with revolute kinematic pairs, conditions that ensure the absence of such undesirable effects are shown. The concept of a structural group with equivalent ideal kinematic pairs is introduced. Getting such a group into a singular position indicates the occurrence of the self-braking effect.


Structural group Assur group Mechanism Self-braking De-braking Equivalent ideal kinematic pair Friction 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Alexander N. Evgrafov
    • 1
    Email author
  • Vladimir I. Karazin
    • 1
  • Gennady N. Petrov
    • 1
  1. 1.Peter the Great Saint-Petersburg Polytechnic UniversitySt.-PetersburgRussia

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