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Identification and classification of the singular configurations of mechanisms

โœ Scribed by D. Zlatanov; R.G. Fenton; B. Benhabib


Book ID
108393938
Publisher
Elsevier Science
Year
1998
Tongue
English
Weight
600 KB
Volume
33
Category
Article
ISSN
0094-114X

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A parallel manipulator or a closed-loop mechanism may gain or loose one or more degree-of-freedom at a singular point, and in this paper, we study the singularity associated with the gain of one or more degreesof-freedom. We analyze the constraint forces associated with the kinematic constraints inh