Peculiarities of equilibrium state bifurcations in transcritical mechanisms

Mechanisms with one degree of freedom whose position space is characterized by self-intersection at a specified value of a coupling parameter in the field of action of a potential force are considered. Bifurcations of equilibrium positions of transcritical mechanisms and their dependence on the properties of the potential energy in the vicinity of a singular point are studied. The results obtained are illustrated by the example of a crank-and-slot mechanism.