{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T15:50:23Z","timestamp":1758815423739},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2005,8,23]],"date-time":"2005-08-23T00:00:00Z","timestamp":1124755200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2005,9]]},"abstract":"<jats:p>An analytical method is presented to obtain all surfaces enveloping the workspace of a general <jats:italic>n<\/jats:italic> degree-of-freedom mechanism with non-unilateral constraints. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation method for serial kinematic chains or its modification for closed-loop kinematic chains. The method developed is based upon analytical criteria for determining singular behavior of the mechanism. Singularities of manipulators with non-unilateral constraints have never been reported. The complete mathematical formulation is presented and illustrated using 4 &amp; 5 DOF spatial manipulators. Four types of singularities are classified: Type I sets are position Jacobian singularities; Type II sets are instantaneous singularities that are due to a generalized joint are reaching its apex; Type III sets are domain boundary singularities, which are associated with the time initial and final values of the time interval; Type IV sets are coupled singularities, which are associated with a relative singular Jacobian, where the null space is reduced in one submatrix due to either of two occurrences: a Type II and Type III singularities.<\/jats:p>","DOI":"10.1017\/s0263574704001262","type":"journal-article","created":{"date-parts":[[2005,8,23]],"date-time":"2005-08-23T10:09:06Z","timestamp":1124791746000},"page":"543-553","source":"Crossref","is-referenced-by-count":7,"title":["Singularities of manipulators with non-unilateral constraints"],"prefix":"10.1017","volume":"23","author":[{"given":"Jingzhou","family":"Yang","sequence":"first","affiliation":[]},{"given":"Karim","family":"Abdel-Malek","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2005,8,23]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574704001262","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,9]],"date-time":"2019-04-09T19:48:09Z","timestamp":1554839289000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574704001262\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2005,8,23]]},"references-count":0,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2005,9]]}},"alternative-id":["S0263574704001262"],"URL":"https:\/\/doi.org\/10.1017\/s0263574704001262","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2005,8,23]]}}}