该文着重研究单链开环机构操作机在有限制转动或移动关节时的位置奇异曲面的求解问题。
The paper tries to resolve the singular surfaces of the manipulator with single open loop structure and limited revolution or translation joints.
因此，该方法可求解所有复杂的多回路平面机构及操作手的奇异位置分析。
Therefore, this method is able to solve the singular position of all complicated multilooped planar linkages and manipulators.
提出了求解任意复杂多回路平面连杆机构及操作手奇异位置分析的模块法。
This paper offered a module approach for solving the singular position of arbitrary complex multilooped planar linkages and manipulators.
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