Generic singular configurations of linkages

DOI10.1016/J.TOPOL.2011.12.003zbMATH Open1316.55008arXiv1112.2334OpenAlexW2067573185MaRDI QIDQ409536FDOQ409536

Authors: David Blanc, Nir Shvalb 

Publication date: 13 April 2012

Published in: Topology and its Applications (Search for Journal in Brave)

Abstract: We study the topological and differentiable singularities of the configuration space C(Gamma) of a mechanical linkage Gamma in d-dimensional Euclidean space, 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.

Full work available at URL: https://arxiv.org/abs/1112.2334

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zbMATH Keywords

configuration spaceroboticslinkagemechanismkinematic singularitytopological singularityworkspace

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Discriminantal varieties and configuration spaces in algebraic topology (55R80) Topological and differential topological methods for problems in mechanics (70G40)

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Cited In (10)

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• Multi-generation of coupler curves of spatial linkages.
• Topological and kinematic singularities for a class of parallel mechanisms
• Symmetric configuration spaces of linkages
• The configuration space of \(n\)-tuples of equiangular unit vectors for \(n = 3\), \(4\), and \(5\)
• Title not available (Why is that?)
• On singularities of real algebraic sets and applications to kinematics
• Smooth manifolds with singularities and hinge mechanisms.
• Compatibility paths of an infinitely degenerate mechanism
• On the configurations of closed kinematic chains in three-dimensional space

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