Saleh M. Almestiri



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The purpose of this research is to understand the motion characteristics of a linkage as a design parameter is altered. Understanding the motion characteristics of a mechanism is an important step in designing machinery. Kinematic analysis theory utilizing isotropic coordinates is implemented to construct mathematical models of planar linkages composed of rigid bodies, revolute joints, and prismatic joints. A graphical representation has been developed to represent the gross motion characteristics of a linkage called a singularity trace. The singularity trace provides a visual snapshot of the effects of altering a design parameter of the linkage by including the number of assembly circuits and the location of locked configurations. Bertini, software for solving large algebraic systems of equations, is used to determine the critical points of the singularity trace. MATLAB is then used to integrate from the Bertini solutions to plot the complete singularity trace.

Publication Date


Project Designation

Graduate Research

Primary Advisor

Andrew P. Murray, David H. Myszka

Primary Advisor's Department

Mechanical and Aerospace Engineering


Stander Symposium project


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Singularity Traces of Planar Linkages That Include Prismatic and Revolute Joints