Table · dataset · 2026
Higher-order Singularities of Two-Loop 3(RR) Planar Mechanisms including 3(RPR) and 3(RRR) Planar Robots
Listed in figshare and Loughborough Research Repository — shown once because both records carry DOI 10.7274/33974473.v1
<p dir="ltr">The direct kinematics problem of an n-degree-of-freedom mechanism requires solving for all assembly configurations of the mechanism when n joint inputs are given, which is equivalent to solving the direct kinematics of a rigid structure.
Description
We consider the case where that structure is a planar pentad, also known as a 3(RR) mechanism, which is the only two-loop planar structure that does not decompose into two triangles.
In particular, we study the cases where the direct kinematics of the pentad is singular, so that the structure has an isolated solution with multiplicity greater than one, often referred to as a mechanism with infinitesimal motion or as a "shaky'" mechanism. We give a complete analysis of singularities having multiplicities 3 and 4 arising in the direct kinematics of (3RPR) and (3RRR) planar robots, and also give complete solutions for problems of constructing pentads having multiplicities 4, 5, or 6 by adding a third center-point/circle-point pair to a given four-bar linkage.
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This builds on the work on the multiplicity 6. When elastic deformation of links and clearance in joints are present, as is always the case in actual mechanisms, pentads with higher-order singularities move through a finite range of motion, which makes them candidates for practical designs, including for compliant mechanisms.</p>
Links
Where it is published
- DOI doi.org/10.7274/33974473.v1 ↗
DOI / persistent id · from figshare com
Catalogue records · 1
- OAI-PMH record api.figshare.com/v2/oai?verb=GetRecord&metadataPrefix=oai_dc&identifier=oai%3Af… ↗
metadata API · from figshare com
Topics
- From keywords
- Astronomy & Astrophysics · Chemistry · Chemistry · Computer Science & AI · Computer Science & AI · Earth & Environmental Science · Earth & Environmental Science · Economics & Finance · Economics & Finance · Engineering · Engineering · Humanities · Humanities · Life Sciences · Life Sciences · Materials Science · Mathematics & Statistics · Medicine & Health · Medicine & Health · Ocean & Atmospheric Science · Psychology & Behavioral Science · Social Science · Social Science
- Inferred from text
- Control engineering, mechatronics and robotics 70%
Provenance · 2 source records, 29 field assertions
| Source | Key | Last seen | Raw |
|---|---|---|---|
| figshare | oai:figshare.com:article/33974473 | 12 d ago | JSON v1 |
| Loughborough Research Repository | oai:figshare.com:article/33974473 | 12 d ago | JSON v1 |
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| title | source · figshare com | connector:figshare_com@1.0.0 | /metadata/dc/title |