Generic singular configurations of linkages

David Blanc; Nir Shvalb

doi:10.1016/j.topol.2011.12.003

Generic singular configurations of linkages

David Blanc, Nir Shvalb

Department of Industrial Engineering and Management

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

We study the topological and differentiable singularities of the configuration space C(Γ) of a mechanical linkage Γ in Rd, defining an inductive sufficient condition to determine when a configuration is singular. We show that this condition holds for generic singularities, provide a mechanical interpretation, and give an example of a type of mechanism for which this criterion identifies all singularities.

Original language	English
Pages (from-to)	877-890
Number of pages	14
Journal	Topology and its Applications
Volume	159
Issue number	3
DOIs	https://doi.org/10.1016/j.topol.2011.12.003
State	Published - 15 Feb 2012

Keywords

Configuration space
Kinematic singularity
Linkage
Mechanism
Primary
Robotics
Secondary
Topological singularity
Workspace

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10.1016/j.topol.2011.12.003

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KW - Kinematic singularity

KW - Linkage

KW - Mechanism

KW - Primary

KW - Robotics

KW - Secondary

KW - Topological singularity

KW - Workspace

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ER -

Generic singular configurations of linkages

Abstract

Keywords

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