A Unifying Framework for Classification and Interpretation of Mechanism Singularities

[+] Author and Article Information
D. Zlatanov, R. G. Fenton, B. Benhabib

Computer Integrated Manufacturing Laboratory, Department of Mechanical Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada, M5S 1A4

J. Mech. Des 117(4), 566-572 (Dec 01, 1995) (7 pages) doi:10.1115/1.2826720 History: Received April 01, 1994; Revised May 01, 1995; Online December 11, 2007


This paper presents a generalized approach to the singularity analysis of mechanisms with arbitrary kinematic chains and an equal number of inputs and outputs. The instantaneous kinematics of a mechanism is described by means of a velocity equation, explicitly including not only the input and output velocities but also the passive-joint velocities. A precise definition of singularity of a general mechanism is provided. On the basis of the six types of singular configurations and the motion space interpretation of kinematic singularity introduced in the paper, a comprehensive singularity classification is proposed.

Copyright © 1995 by The American Society of Mechanical Engineers
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