This paper presents an analysis to create a general singularity condition for a mechanism that contains a deformable closed contour. This kinematic architecture is widely used in rigid-body shape changing mechanisms. The general singularity equation is reduced to a condensed form, which allows geometric relationships to be readily detected. A method for formulating the singularity condition for a mechanism with N links in the closed contour, knowing the condition for the N − 1 mechanism, is also given.

This content is only available via PDF.
You do not currently have access to this content.