Kinematic Tangent Cone – A useful Concept for the local Mobility and Singularity Analysis
It is crucial to determine the mobility in regular and singular configurations of a mechanism. At a configuration space singularity, a mechanism can branch between different motion modes. All reported approaches to the local mobility analysis aim to identify possible finite motions, more precisely tangents to these motions. The latter is formalized by the concept of a kinematic tangent cone. It is shown how this can be used to identify the motion modes meeting at a singularity. A rigorous definition of motion modes is introduced, and smooth motion modes are defined as such were smooth finite motions are possible. An example is given for singularities leading to a smooth and a non-smooth motion mode.
KeywordsMobility singularities configuration space higher-order analysis kinematic tangent cone kinematotropic reconfigurable
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