On Behavior of Mechanisms with Singularities

10.6567/IFToMM.14TH.WC.OS4.017

Vitaly A. Samsonov；Yury D. Selyutskiy

configuration manifold ； constraints ； singularity ； equilibrium positions ； bifurcations

Proceedings of the 14th IFToMM World Congress

14th-2（2015 / 10 / 27）

103 - 109

英文

Mechanisms with singularities are considered. A typical restructuring of configuration manifold of mechanism is described when the parameter passes its critical value. A typical bifurcation of equilibrium positions of near-critical mechanisms and its specific features are described. The relationship is established between the bifurcation type and the index of the critical point, as well as with local properties of the potential energy.