Singularity analysis of spatial mechanisms using dual polynomials and complex dual numbers

Complex dual numbers w = x + iy + epsilon u + i epsilon upsilon which farm a commutative ring are mechanism correspond to its singularity positions. T his new method of identifying introduced in this paper to salve dual polyno mial equations numerically. It is shown that the singularities of a dual in put-output displacement polynomial equation of a singularities provides cle ar physical insight into the geometry of the singular configurations of a m echanism, which is illustrated through analysis of special configurations o f the RCCC spatial mechanism. Numerical solutions for dual polynomial equat ions and complex dual numbers are conveniently implemented in the CX langua ge environment for analysis of the RCCC spatial mechanism.