Abstract
This paper presents a novel method for finding and classifying all the singularities of an arbitrary non-redundant mechanism. The proposed technique is based on the velocity-equation formulation of kinematic singularity and the singularity classification first introduced in (Zlatanov et al., 1994-1,2). Criteria for singularity are derived and applied to formulate procedures for computing the singularity set and revealing its division into singularity classes. Further development of methods for automatic singularity analysis is discussed.
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© 1995 Springer Science+Business Media Dordrecht
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Zlatanov, D., Fenton, R.G., Benhabib, B. (1995). Identification and Classification of the Singular Configurations of Mechanisms. In: Merlet, JP., Ravani, B. (eds) Computational Kinematics ’95. Solid Mechanics and Its Applications, vol 40. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-0333-6_17
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DOI: https://doi.org/10.1007/978-94-011-0333-6_17
Publisher Name: Springer, Dordrecht
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