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arXiv · 1112.2334

Generic singular configurations of linkages

David Blanc·Nir Shvalb
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Abstract

We study the topological and differentiable singularities of the configuration space C(Γ) of a mechanical linkage Γin 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.

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David Blanc, Nir Shvalb. 2011-12-11. Generic singular configurations of linkages. https://arxiv.org/abs/1112.2334

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