Abstract: The relationship between the dimension of the mechanism and the singularity configuration is investigated based on an example of five-bar mechanism, and a method that can distinguish singularity configuration considering the dimension of the mechanism is also provided. The research also analyzes the intricacy of the bifurcation of the mechanism and provides the distinguish condition of the first rank bifurcation and the second rank bifurcation. The persistence of the configuration about the singularity point is studied using universal unfolding method of nonlinear-singularity theory. The influence of the disturbance factors such as assemble error and payload on the configuration persistence at the singularity point are analyzed.

Key words: Controllable motion, Mechanism, Persistence of configuration, Singularity, cold spray, cold spray bonding, cold welding, dissimilar metal joint