Singularity analysis of planar linkages

In this article we will show how the tools of computational algebraic geometry can be used to study one important area in mechanism theory, the singularity analysis. Algebraic geometry provides a natural framework for kinematical analysis of mechanisms since it allows one to approach the problem algorithmically, and yet it has been used very little in the past. We will study step by step more complicated mechanisms and establish strategies how to find necessary conditions for singularities.