| contributor author | D. Zlatanov | |
| contributor author | R. G. Fenton | |
| contributor author | B. Benhabib | |
| date accessioned | 2017-05-08T23:47:50Z | |
| date available | 2017-05-08T23:47:50Z | |
| date copyright | December, 1995 | |
| date issued | 1995 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27630#566_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/115674 | |
| description abstract | This paper presents a generalized approach to the singularity analysis of mechanisms with arbitrary kinematic chains and an equal number of inputs and outputs. The instantaneous kinematics of a mechanism is described by means of a velocity equation, explicitly including not only the input and output velocities but also the passive-joint velocities. A precise definition of singularity of a general mechanism is provided. On the basis of the six types of singular configurations and the motion space interpretation of kinematic singularity introduced in the paper, a comprehensive singularity classification is proposed. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Unifying Framework for Classification and Interpretation of Mechanism Singularities | |
| type | Journal Paper | |
| journal volume | 117 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2826720 | |
| journal fristpage | 566 | |
| journal lastpage | 572 | |
| identifier eissn | 1528-9001 | |
| keywords | Mechanisms | |
| keywords | Kinematics | |
| keywords | Motion | |
| keywords | Chain AND Equations | |
| tree | Journal of Mechanical Design:;1995:;volume( 117 ):;issue: 004 | |
| contenttype | Fulltext | |