{"id":"https://openalex.org/W2000790765","doi":"https://doi.org/10.1115/detc2014-34213","title":"Singularity Analysis of Planar Multiple-DOF Linkages","display_name":"Singularity Analysis of Planar Multiple-DOF Linkages","publication_year":2014,"publication_date":"2014-08-17","ids":{"openalex":"https://openalex.org/W2000790765","doi":"https://doi.org/10.1115/detc2014-34213","mag":"2000790765"},"language":"en","primary_location":{"id":"doi:10.1115/detc2014-34213","doi":"https://doi.org/10.1115/detc2014-34213","is_oa":false,"landing_page_url":"https://doi.org/10.1115/detc2014-34213","pdf_url":null,"source":{"id":"https://openalex.org/S7407096944","display_name":"ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310321320","host_organization_name":"American Society of Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310321320"],"host_organization_lineage_names":["American Society of Mechanical Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Volume 5A: 38th Mechanisms and Robotics Conference","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jun Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Wang","raw_affiliation_strings":["HuBei University of Technology, Wuhan, HuBei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HuBei University of Technology, Wuhan, HuBei, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003791161","display_name":"Liangyi Nie","orcid":"https://orcid.org/0000-0002-8377-9659","observed_orcids":["https://orcid.org/0000-0002-8377-9659"]},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liangyi Nie","raw_affiliation_strings":["HuBei University of Technology, Wuhan, HuBei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HuBei University of Technology, Wuhan, HuBei, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418243","display_name":"Quan Wang","orcid":"https://orcid.org/0000-0001-5665-9259","observed_orcids":["https://orcid.org/0000-0001-5665-9259"]},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Wang","raw_affiliation_strings":["HuBei University of Technology, Wuhan, HuBei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HuBei University of Technology, Wuhan, HuBei, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jinfeng Sun","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinfeng Sun","raw_affiliation_strings":["HuBei University of Technology, Wuhan, HuBei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HuBei University of Technology, Wuhan, HuBei, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ying You","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying You","raw_affiliation_strings":["HuBei University of Technology, Wuhan, HuBei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HuBei University of Technology, Wuhan, HuBei, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102111020","display_name":"Daxing Zhao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daxing Zhao","raw_affiliation_strings":["HuBei University of Technology, Wuhan, HuBei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HuBei University of Technology, Wuhan, HuBei, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112620739","display_name":"Kwun-Lon Ting","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I63920570","display_name":"Tennessee Technological University","ror":"https://ror.org/05drmrq39","country_code":"US","type":"education","lineage":["https://openalex.org/I63920570"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kwun-Lon Ting","raw_affiliation_strings":["Tennessee Technological University, Cookeville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tennessee Technological University, Cookeville, TN","institution_ids":["https://openalex.org/I63920570"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":87,"max":93},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11115","display_name":"Topology Optimization in Engineering","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/singularity-analysis","display_name":"singularity analysis","score":0.9309999942779541},{"id":"https://openalex.org/keywords/planar-mechanisms","display_name":"planar mechanisms","score":0.8519999980926514},{"id":"https://openalex.org/keywords/multiple-degrees-of-freedom","display_name":"multiple degrees of freedom","score":0.9390000104904175},{"id":"https://openalex.org/keywords/singular-configurations","display_name":"singular configurations","score":0.7459999918937683},{"id":"https://openalex.org/keywords/velocity-method","display_name":"velocity method","score":0.7450000047683716},{"id":"https://openalex.org/keywords/kinematic-analysis","display_name":"kinematic analysis","score":0.5419999957084656}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.9487451314926147},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.8277423977851868},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.6961461305618286},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6844429969787598},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6485859155654907},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4509928524494171},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42743080854415894},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.41355302929878235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39064109325408936},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.35499560832977295},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3228488564491272},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18647021055221558},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14692017436027527},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.131809264421463},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0893392264842987},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.05979922413825989},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1115/detc2014-34213","doi":"https://doi.org/10.1115/detc2014-34213","is_oa":false,"landing_page_url":"https://doi.org/10.1115/detc2014-34213","pdf_url":null,"source":{"id":"https://openalex.org/S7407096944","display_name":"ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310321320","host_organization_name":"American Society of Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310321320"],"host_organization_lineage_names":["American Society of Mechanical Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Volume 5A: 38th Mechanisms and Robotics Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313620","display_name":"Hubei Provincial Department of Education","ror":"https://ror.org/05yaa9j15"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W3205178707","https://openalex.org/W2766912819","https://openalex.org/W2021126015","https://openalex.org/W7011683594","https://openalex.org/W2023762694","https://openalex.org/W2348211809","https://openalex.org/W2379474621","https://openalex.org/W3211896733","https://openalex.org/W2087526238","https://openalex.org/W6884311040"],"abstract_inverted_index":{"Singularity":[0],"analysis":[1,43,172],"of":[2,30,45,87,107,126,156,159,165,194],"multi-DOF":[3,31],"(multiple-degree-of-freedom)":[4],"multiloop":[5,32,129,196],"planar":[6,15,33,47,57,78,153,197],"linkages":[7,48,90],"is":[8,38,91,119,134,173],"much":[9],"more":[10],"complicated":[11],"than":[12],"the":[13,25,41,50,76,88,93,97,105,110,123,148,157,163,178,191,205],"single-DOF":[14,46],"linkages.":[16,34,52,198],"This":[17],"paper":[18],"offers":[19,183],"a":[20,65,127,135],"degeneration":[21],"method":[22,37,133,169,182],"to":[23,121,146,176,203],"analyze":[24,147],"singularity":[26,42,149,171,192],"(dead":[27],"center":[28,95],"position)":[29],"The":[35,131,167,180],"proposed":[36,111,132,181,206],"based":[39],"on":[40],"results":[44],"and":[49,186],"less-DOF":[51],"For":[53],"an":[54,81],"N-DOF":[55,77,99],"(N>1)":[56],"linkage,":[58],"it":[59,118,141],"generally":[60],"requires":[61],"N":[62],"inputs":[63],"for":[64,150,170,190],"constrained":[66],"motion.":[67],"By":[68],"fixing":[69],"M":[70],"(M<N)":[71],"input":[72],"joints":[73],"or":[74,162],"links,":[75],"linkage":[79,100,154],"degenerates":[80],"(N-M)-DOF":[82],"linkage.":[83,130],"If":[84],"any":[85,151],"one":[86,113],"degenerated":[89],"at":[92,104],"dead":[94],"position,":[96],"whole":[98],"must":[101],"be":[102,143],"also":[103,174,201],"position":[106],"singularity.":[108],"With":[109],"method,":[112],"may":[114],"find":[115],"out":[116],"that":[117,140],"easy":[120],"obtain":[122],"singular":[124],"configurations":[125],"multiple-DOF":[128,152,195],"general":[136],"concept":[137],"in":[138],"sense":[139],"can":[142],"systematically":[144],"applied":[145],"regardless":[155],"number":[158],"kinematic":[160],"loop":[161],"types":[164],"joints.":[166],"velocity":[168],"used":[175],"verify":[177],"results.":[179],"simple":[184],"explanation":[185],"straightforward":[187],"geometric":[188],"insights":[189],"identification":[193],"Examples":[199],"are":[200],"employed":[202],"demonstrate":[204],"method.":[207]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-11-08T12:12:28.789561","created_date":"2016-06-24T00:00:00"}
