The DOI matches its Crossref record; 45 of the 45 references it cites were found in a registry or an index.
A synthesis method for 1-DOF mechanisms with a cusp in the configuration space
Open accessOverview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
The source backs part of the claim, not all of it — or backs it for a different population, condition or comparison.
In the citing paper
“When Σ has a “branched” structure, e.g., like in Fig. 1, C(q) drops rank at the singularity where the branches meet [39, 40], and the constraints cease to be linearly independent.”
From Thermal Fluctuations of Singular Bar-Joint Mechanisms (2022) · cites this paper as [40]
Experimental — accuracy not yet measuredThe source backs part of the claim, not all of it — or backs it for a different population, condition or comparison.
In the citing paper
“When the constraints in a mechanism cease to be linearly independent, singularities can appear in its shape space, which is the part of its configuration space after discarding rigid motions.”
From Thermal Fluctuations of Singular Bar-Joint Mechanisms (2022) · cites this paper as [40]
Experimental — accuracy not yet measured
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices
Denavit, J., & Hartenberg, R. S. (1955) · Journal of Applied Mechanics · doi:10.1115/1.4011045 · Cited by 4,569
Kinematic geometry of mechanisms
Hunt, K. H. (1978) · Medical Entomology and Zoology · Cited by 1,917
Differential Geometry: Curves - Surfaces - Manifolds
Kühnel, W. (2002) · Cited by 386
Analyse structurelle des mécanismes par groupe des déplacements
Hervé, J. M. (1978) · Mechanism and Machine Theory · doi:10.1016/0094-114x(78)90017-4 · Cited by 361
(1962) · Elsevier eBooks · doi:10.1016/c2013-0-01706-9 · Cited by 241
Kinematics of Spherical Mechanisms
蔣君宏, & Chiang, C. (1988) · Cited by 206
Mémoire sur la théorie de l'octaèdre articulé
Bricard, R. (1897) · French digital mathematics library (Numdam) · Cited by 186
Special configurations of spatial mechanisms and robot arms
Sugimoto, K., Duffy, J., & Hunt, K. H. (1982) · Mechanism and Machine Theory · doi:10.1016/0094-114x(82)90042-8 · Cited by 165
An analysis of the Bricard linkages
Baker, J. E. (1980) · Mechanism and Machine Theory · doi:10.1016/0094-114x(80)90021-x · Cited by 156
A Study of the Jacobian Matrix of Serial Manipulators
Waldron, K. J., Wang, S.-L., & Bolin, S. J. (1985) · Journal of Mechanisms Transmissions and Automation in Design · doi:10.1115/1.3258714 · Cited by 151
Research works printed but not linked: 1
- Tarnai, 2000, Finite mechanisms have no higher-order rigidity, Acta Tech. Acad. Sci. Hung., 106, 119
Cited by
Sorted by citations
Jia, G., Huang, H., Wang, S., & Li, B. (2021) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2021.104330 · Cited by 56
Müller, A. (2019) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2019.103594 · Cited by 60
Self-citationWu, L., Müller, A., & Dai, J. S. (2020) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2019.103776 · Cited by 18
Self-citationTangential intersection of branches of motion
López-Custodio, P. C., Müller, A., Kang, X., & Dai, J. S. (2020) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2019.103730 · Cited by 16
Self-citationLocal Investigation of Mobility and Singularities of Linkages
Müller, A. (2019) · Courses and lectures · doi:10.1007/978-3-030-05219-5_5 · Cited by 13
Self-citationResearch Progress and Development Trend of the Safety of Human-robot Interaction Technology
Jia, J., & Minglu, Z. (2020) · Journal of Mechanical Engineering · doi:10.3901/jme.2020.03.016 · Cited by 12
Zhang, Y., Xu, P., & Li, B. (2023) · Journal of Mechanisms and Robotics · doi:10.1115/1.4064235 · Cited by 10
Numerical optimization and experimental validation of a five-link mechanism, potato planter
Sun, W., Zhang, H., & Simionescu, P. A. (2021) · Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science · doi:10.1177/09544062211004652 · Cited by 7
Thermal Fluctuations of Singular Bar-Joint Mechanisms
Mannattil, M., Schwarz, J. M., & Santangelo, C. D. (2022) · Physical Review Letters · doi:10.1103/physrevlett.128.208005 · Cited by 7
Mao, N. P., Chen, J., Jia, G., Spyrakos-Papastavridis, E., & Dai, J. S. (2025) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2025.106254 · Cited by 5
Self-citationMüller, A. (2018) · ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE) · doi:10.1115/detc2018-85526 · Cited by 6
Self-citationMotion generators of quadric surfaces
Yang, S., & Li, Y. (2019) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2019.06.006 · Cited by 5
Identification of Non-Transversal Motion Bifurcations of Linkages
Müller, A., López-Custodio, P. C., & Dai, J. S. (2021) · Journal of Mechanisms and Robotics · doi:10.1115/1.4049658 · Cited by 5
Self-citationMüller, A. (2019) · Journal of Mechanisms and Robotics · doi:10.1115/1.4042545 · Cited by 4
Self-citationKinematic Tangent Cone – A useful Concept for the local Mobility and Singularity Analysis
Müller, A. (2019) · Mechanisms and machine science · doi:10.1007/978-3-030-20131-9_34 · Cited by 3
Self-citationSynthesis of kinematotropic parallel manipulators by inclusion of additional motion generators
López-Custodio, P. C., & Müller, A. (2022) · Multibody System Dynamics · doi:10.1007/s11044-022-09837-w · Cited by 2
Self-citationType synthesis of closed-loop robots for machining and manufacturing of complex quadric surfaces
Song, J., Yang, S., Zhang, Y., Fang, Z., & Zou, T. C. (2025) · Robotica · doi:10.1017/s0263574725101732 · Cited by 2
Wohlhart’s Three-Loop Mechanism: An Overconstrained and Shaky Linkage
Müller, A. (2020) · Springer proceedings in advanced robotics · doi:10.1007/978-3-030-50975-0_16 · Cited by 2
Self-citationC-Space Analysis Using Tropical Geometry
Nayak, A. (2021) · Springer proceedings in advanced robotics · doi:10.1007/978-3-030-91352-6_10 · Cited by 3
A global approach for the redefinition of higher-order flexibility and rigidity
Nawratil, G. (2024) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2024.105853 · Cited by 1
Sancibrián, R., Gonzalez‐Sarabia, E., Robla, S., Gutierrez-Diez, M. C., Redondo-Figuero, C. G., & Manuel-Palazuelos, J. C. (2020) · Mechanics Based Design of Structures and Machines · doi:10.1080/15397734.2020.1788951 · Cited by 1
Müller, A. (2021) · Springer eBooks · doi:10.1007/978-3-642-41610-1_138-1
Self-citationWu, L., Zhong, Q., & Cai, J. (2025) · Engineering Research Express · doi:10.1088/2631-8695/ade51d
Synthesis of Planar Linkages with Second-Order Singularities
Saldarriaga, C. X., & Gracia, A. P. (2026) · Mechanisms and machine science · doi:10.1007/978-3-032-30384-4_14
Metadata
- Authors
- López-Custodio, P. C., Müller, A., Rico, J. M., & Dai, J. S.
- Affiliations
- King's College London (GB)
- Johannes Kepler University of Linz (AT)
- Universidad de Guanajuato (MX)
- Corresponding author
- López-Custodio, P.C.
- Venue
- Mechanism and Machine Theory
- Publisher
- Elsevier BV
- Published
- 2019-02
- Volume
- 132
- Pages
- 154-175
- ISSN
- 0094-114X (ISSN-L)
- OpenAlex
- W2898998959
- Cited by
- 24
- References
- 45
- Citations by year
- 2026: 1 · 2025: 3 · 2024: 1 · 2023: 1 · 2022: 2 · 2021: 5 · 2020: 5 · 2019: 5
- FWCI
- 2.48
- Type
- journal article
- Language
- en
- Open access
- green
- kclpure.kcl.ac.uk
- Licence
- Locations
- Mechanism and Machine Theory (publishedVersion)
- Research Portal (King's College London) (submittedVersion, cc-by-nc-nd)
- Lincoln Repository (University of Lincoln) (submittedVersion)
- Funders
- King's College London
- Engineering and Physical Sciences Research Council (EP/P026087/1, EP/P025447/1)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Physical Sciences › Engineering › Civil and Structural Engineering › Topology Optimization in Engineering
- Keywords
- cusp singularities, mechanism synthesis, configuration space, spatial mechanisms, bifurcation points, space curves
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
