This article, for the first time, presents the generation of Roots rotor tooth profiles based on an Assur-group-associated virtual linkage method. Taking the original Roots rotor as an example, structure and geometry of the Roots rotor are introduced, and based on the principle of inversion, an equivalent virtual linkage is identified for generating dedendum tooth profile of the rotor. Using linkage decomposition associated with elemental Assur groups, algorithm for computing the tooth curve is constructed leading to the explicit expression of rotor profile and the corresponding numerical simulation, verifying the validity of the proposed approach. For demonstration purpose, the virtual linkage method is then extended to the generation of tooth profiles for the variants of Roots rotors with arc-cycloidal curves and arc-involute curves. Integrated with computer-aided design, computer-aided engineering and computer-aided manufacturing software platforms, as well as the three-dimensional printing technology, this article provides an efficient and intuitive approach for Roots rotor system design, analysis and development.