Abstract
This paper deals with the singularities which occur on the compatibility paths of single degree of freedom finite mechanisms consisting of rigid bars and pin joints. We first examine the analogy between the bifurcations along the compatibility paths of mechanisms and those appeared in the equilibrium paths of elastic structures. Based on it, we propose that the compatibility conditions can be analysed in the same way as the equilibrium equations using the elementary catastrophe theory. A number of mechanism examples are given to illustrate that common cuspoid catastrophe types also exist in the compatibility paths of mechanisms.
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