Full Content is available to subscribers

Subscribe/Learn More  >

Singularity Analysis of Planar Multiple-DOF Linkages

[+] Author Affiliations
Jun Wang, Liangyi Nie, Quan Wang, Jinfeng Sun, Ying You, Daxing Zhao

HuBei University of Technology, Wuhan, HuBei, China

Kwun-Lon Ting

Tennessee Technological University, Cookeville, TN

Paper No. DETC2014-34213, pp. V05AT08A051; 9 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


Singularity analysis of multi-DOF (multiple-degree-of-freedom) multiloop planar linkages is much more complicated than the single-DOF planar linkages. This paper offers a degeneration method to analyze the singularity (dead center position) of multi-DOF multiloop planar linkages. The proposed method is based on the singularity analysis results of single-DOF planar linkages and the less-DOF linkages. For an N-DOF (N>1) planar linkage, it generally requires N inputs for a constrained motion. By fixing M (M<N) input joints or links, the N-DOF planar linkage degenerates an (N-M)-DOF linkage. If any one of the degenerated linkages is at the dead center position, the whole N-DOF linkage must be also at the position of singularity. With the proposed method, one may find out that it is easy to obtain the singular configurations of a multiple-DOF multiloop linkage. The proposed method is a general concept in sense that it can be systematically applied to analyze the singularity for any multiple-DOF planar linkage regardless of the number of kinematic loop or the types of joints. The velocity method for singularity analysis is also used to verify the results. The proposed method offers simple explanation and straightforward geometric insights for the singularity identification of multiple-DOF multiloop planar linkages. Examples are also employed to demonstrate the proposed method.

Copyright © 2014 by ASME
Topics: Linkages



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In