We study the topological and differentiable singularities of the configuration space C(Γ) of a mechanical linkage Γ in Rd, defining an inductive sufficient condition to determine when a configuration is singular. We show that this condition holds for generic singularities, provide a mechanical interpretation, and give an example of a type of mechanism for which this criterion identifies all singularities. © 2011 Elsevier B.V.
Blanc, D., & Shvalb, N. (2012). Generic singular configurations of linkages. Topology and Its Applications, 159(3), 877–890. https://doi.org/10.1016/j.topol.2011.12.003