Singular Configurations of Mechanisms and Manipulators (CISM International Centre for Mechanical Sciences, 589)

The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots. Front Matter ....Pages i-ix Generalized Singularity Analysis (Dimiter Zlatanov)....Pages 1-38 Singularity Set Computation: A Hands-On Session with the CUIK Suite (Oriol Bohigas)....Pages 39-65 Cuspidal Robots (Philippe Wenger)....Pages 67-99 Mechanism Constraints and Singularities—The Algebraic Formulation (Manfred L. Husty, Dominic R. Walter)....Pages 101-180 Local Investigation of Mobility and Singularities of Linkages (Andreas Müller)....Pages 181-229