Mechanisms may possess kinematic singularities that are smooth points of the configuration space (c-space). At such points, a mechanism becomes shaky as its instantaneous mobility changes, but in contrast to c-space singularities, like bifurcations or cusps, these kinematic singularities are not reflected in the c-space. They are therefore called hidden singularities. Very few publications have addressed the analysis of hidden singularities. Recent research, employing methods from algebraic geometry, shows that they are often due to embedded points of the c-space variety but may also be due to singularities of the c-space variety where real and complex components intersect. Facilitating future research on the origin of hidden singularities necessitates a comprehensive list of mechanisms exhibiting this phenomenon. To this end, a constructive approach for the synthesis of 1-DOF 6R linkages with hidden singularities of prescribed rank is proposed in this paper. Various examples are shown that have hidden singularities of rank 3 or 4. Also, an example is shown that has a singularity which is a bifurcation as well as an embedded point.


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    Title :

    6R Linkages with Hidden Singularities


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Publication date :

    2022-06-18


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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