Abstract
We study the configuration space C of a parallel polygonal mecha-nism, and give necessary conditions for the existence of singularities; this shows that generically C is a smooth manifold. In the planar case, we construct an explicit Morse function on C, and show how geometric information about the mechanism can be used to identify the critical points.
| Original language | English |
|---|---|
| Pages (from-to) | 137-167 |
| Number of pages | 11 |
| Journal | JP Journal of Geometry and Topology |
| Volume | 9 |
| Issue number | 2 |
| State | Published - 2009 |