Singularities of mechanisms and the degree of mobility - Archive ouverte HAL
Article Dans Une Revue Journal of Multi-body Dynamics Année : 2005

Singularities of mechanisms and the degree of mobility

M Fayet
  • Fonction : Auteur

Résumé

The Kinematics, statics and dynamics of singular configurations of mechanisms are analysed. Using Lie group theory, the tangent cone at such a configuration is defined and calculated. It is clear that the structure of the cone is directly linked with one of Lie algebra. The statics and dynamics of singularity analysis are addressed, making it possible to apply the concept of the transitory degree of mobility.

Dates et versions

hal-04367032 , version 1 (29-12-2023)

Identifiants

Citer

Jean Lerbet, M Fayet. Singularities of mechanisms and the degree of mobility. Journal of Multi-body Dynamics, 2005, 217 (2), pp.111-119. ⟨10.1243/146441903321898601⟩. ⟨hal-04367032⟩
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