Singularities of mechanisms and the degree of mobility
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.