On kinematic singularities of low dimension.

Ann. Hobbs, Catherine
(1993) On kinematic singularities of low dimension. PhD thesis, University of Liverpool.

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This thesis is an investigation into the types of singularities that can appear on trajectories of rigid motions, kinematic singularities, motivated by problems in mechanical engineering of designing mechanisms. Here we consider rigid motions of the plane and space with one and two degrees of freedom. In order to study these singularities weprove a multi-germ transversality result and also a result about the restrictions on the codimension of the singularity given by the number of degrees of freedom of the motion. Some of the classifications of the singularities we are interested in have already been completed but all the simple singularities of space curves and also most of the multi-germs, both of the plane and of space, are classified here. We also study the unfoldings and bifurcation sets of all the kinematic singularities on our lists.

Item Type: Thesis (PhD)
Depositing User: Symplectic Admin
Date Deposited: 20 Oct 2023 18:30
Last Modified: 20 Oct 2023 18:35
DOI: 10.17638/03175446
Copyright Statement: Copyright © and Moral Rights for this thesis and any accompanying data (where applicable) are retained by the author and/or other copyright owners. A copy can be downloaded for personal non-commercial research or study, without prior permission or charge.
URI: https://livrepository.liverpool.ac.uk/id/eprint/3175446