Singularity Analysis of Rigid-body, Closed-loop, Shape-changing Mechanisms
نویسنده
چکیده
This paper presents an analysis to create a general singularity condition for a mechanism that contains a deformable closed contour. This kinematic architecture is widely used in rigid-body shape changing mechanisms. The general singularity equation is reduced to a condensed form, which allows geometric relationships to be readily detected. A method for formulating the singularity condition for a mechanism with N links in the closed contour, knowing the condition for the N−1 mechanism, is also given.
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