Generic singular configurations of linkages
Algebraic Topology
2011-12-13 v1 Differential Geometry
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.
Keywords
Cite
@article{arxiv.1112.2334,
title = {Generic singular configurations of linkages},
author = {David Blanc and Nir Shvalb},
journal= {arXiv preprint arXiv:1112.2334},
year = {2011}
}