JP Journal of Geometry and Topology
Volume 9, Issue 2, Pages 137 - 167
(July 2009)
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THE CONFIGURATION SPACE OF A PARALLEL POLYGONAL MECHANISM
Nir Shvalb (Israel), Moshe Shoham (Israel) and David Blanc (Israel)
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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.
