Kinematic Singularities of Mechanisms Revisited
A. Müller, D. Zlatanov
https://doi.org/10.19124/ima.2015.001.26
Abstract
The paper revisits the definition and the identification of the singularities of kinematic chains and mechanisms. The degeneracy of the kinematics of an articulated system of rigid bodies cannot always be identified with the singularities of the configuration space. Local analysis can help identify kinematic chain singularities and better understand the way the motion characteristics change at such configurations. An example is shown that exhibits a kinematic singularity although its configuration space is a smooth manifold.