The Method of Newton Polyhedra for Investigating Singular Positions of Some Mechanisms

Abstract

In the paper the singular positions of a displacement function of the plane mechanism with three degrees of freedom are investigated. The singularities of this function are subdivided into two types. The singularities of the displacement function as a function of control coordinates belong to the first type. The second type singularities are such singularities, in the neighbourhood of which the coordinates of position and control do not form an n- dimensional manifold (n is the number of degrees of freedom).