论文信息 - On Closure Modes and Singular Configurations of Kinematic Chains

On Closure Modes and Singular Configurations of Kinematic Chains

Certain singular configurations of linkages characterised by inactive free- doms or increased mobility are well documented. Less widely known is the fact that the closure modes of a kinematic chain can give rise to various degrees of mobility. These issues are sometimes interwoven as a consequence of simultaneities of special positions and accompanying coincidences of different closure modes. The phenomena are here discussed and placed in perspective, and a set of recommendations is put forward in the interest of obviating misconceptions in dealing with these important exceptional features of kinematic chains.

J. E. Baker

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