Abstract
We study the configuration space of a parallel polygonal mechanism, and give necessary conditions for the existence of singularities; this shows that generically is a smooth manifold. In the planar case, we construct an explicit Morse function on and show how geometric information about the mechanism can be used to identify the critical points.
| Original language | English |
|---|---|
| Pages (from-to) | 137-167 |
| Number of pages | 31 |
| Journal | JP Journal of Geometry and Topology |
| Volume | 9 |
| State | Published - Jul 2009 |