LAUSR

This paper demonstrates dynamic advantages of singular configurations for a two-link mechanism by theoretical analysis and numerical simulations. The advantages can be utilized in moving a heavy object by the mechanism. The theoretical analysis reveals that the configurations of the mechanism near the singular ones are advantageous in generating large acceleration of the object through the joint torques and the kinetic energy of the mechanism. We illustrate the advantages by numerical simulations for two typical motions, that is, a lifting motion of a two-link manipulator and a jumping motion of a two-link legged robot. It is shown that the joint torques necessary to achieve these motions are reduced to a large extent by using the advantages.