An Automatic and General Approach to the Computational Analysis of Singular Configurations in Planar Mechanisms

摘要

This contribution presents a practical method to automatically detect and classify singularities. The procedure is based in the use of the vectors that form a base of the motion space. These are obtained with a velocity equation easy to be found for any mechanism and based in a so called geometric matrix. This approach provides the means to find uncontrolled motion and kinematic dependencies, facilitates the choice of actuators and redundant devices, and allows the detection of constraint singularities. The method has been implemented in a computer program for kinematic analysis used to solve the examples given.