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Singularity Analysis of Rigid-Body, Closed-Loop, Shape-Changing Mechanisms

[+] Author Affiliations
David Myszka, Andrew Murray

University of Dayton, Dayton, OH

James Schmiedeler

Ohio State University, Columbus, OH

Paper No. DETC2008-49644, pp. 665-670; 6 pages
  • ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B
  • Brooklyn, New York, USA, August 3–6, 2008
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4326-0 | eISBN: 0-7918-3831-5
  • Copyright © 2008 by ASME


This paper presents an analysis to create a general singularity condition for a mechanism that contains a deformable closed contour. This kinematic architecture is widely used in rigid-body shape changing mechanisms. The general singularity equation is reduced to a condensed form, which allows geometric relationships to be readily detected. A method for formulating the singularity condition for a mechanism with N links in the closed contour, knowing the condition for the N − 1 mechanism, is also given.

Copyright © 2008 by ASME
Topics: Shapes , Mechanisms



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