Analytic Geometry and Singularities of Mechanisms
Résumé
In this article, we analyse the geometrical structure of the set M of configurations of a mechanism. Using Lie groups language and without any hypothesis of regularity, one can attach to this set a structure of an analytic variety. We shall then compute the tangent cone at each point of this set without introducing any coordinates and we shall deduce the structure of M whatever the singularity may be. Finally, some examples are studied.