Position analysis of planar linkages using the method of modification of kinematic units

The paper contains assumptions of a generalized, universal modification method for position analysis of planar linkages, which is based on a transformation of a kinematic unit (Assur group) of higher class into a simple mechanism of second class. The ways of performing modification have been shown. A mathematical description of the procedure for the determination of links position of the transformed mechanism has been presented, using a kinematic unit of the fifth class as the example.