介绍一种并联机器人奇异位形分析计算的新方法。
A new method of analyzing and calculating the singular configurations of parallel manipulators is presented.
本论文将首先研究并联机构奇异位形的分类问题。
First, the classification of singularities of parallel mechanisms is studied.
研究了一种六关节机器人通过奇异位形时新型解的方法。
A new solution to pass through singular configuration for six-joint robot is studied.
又根据机构的雅克比矩阵，对机构的奇异位形进行了分析。
According to the Jacobian matrix of mechanism, the singularity of the mechanism was analyzed.
运用微分几何的方法分析了存在于并联机构中的各种奇异位形。
This paper analyses the various singular configurations of parallel manipulators using differential geometry.
探索了工作空间边界，综合分析了机构奇异位形与工作空间的关系。
The boundary of workspace was explored and the relation of singular configuration and workspace was analyzed synthetically.
并联机构的奇异位形是并联机器人设计、应用和分析中的一个重要问题。
Singularity configuration of the parallel manipulator is an important issue in the design, application and analysis of parallel robots.
合理选择机构结构参数和关节变化范围，得到了无奇异位形的工作空间。
Configuration parameter and scope of joint variety were selected rationally in order to...
通过对五杆机构雅可比矩阵的分析，提出了避免机床在工作时出现奇异位形的方法。
By studying on jacobin matrix of planar, a method that can make the machine avoid singularity on operating is put forward.
驱动冗余可有效消除并联机构在作业空间中的奇异位形，但其导致驱动力分配不唯一。
Redundant actuation can effectively eliminate singularities in the task space of a parallel manipulator, but the drive force distribution is not unique because of the redundant actuation.
采用基于机构瞬时运动分析的方法，建立了3 -RTT并联机器人的奇异位形判别阵。
By adopting the method based on instantaneous motion analysis of mechanism, the distinguishing matrix for singularity configuration of 3-rtt parallel robot was established.
该机床有简单的机构，较强的刚度，较大的工作空间，简单的运动方程序，没有运动的奇异位形。
It has the advantages of simple structure, higher stiffness, larger working space, simple kinematics equations, no motion coupling and no singular pose.
对并联机构奇异位形的特性进行深入的研究是减小和消除奇异位形的影响，提高并联机构性能的基础。
Deep and clear understanding of singularities of parallel mechanisms is the fundament to reduce or eliminate the effect of singularity and improve the performance of parallel mechanisms.
冗余自由度常被用来实现机器人躲避障碍、避免奇异位形、增加灵活性以及优化某些动力学指标等目的。
Kinematics redundancy of robot have been used to avoid obstacle, singularity, increase dexterity and optimize other dynamic characters.
建立了一种混联型虚拟轴机床主进给机构位置分析的输入输出方程，并推导出奇异位形判别的解析表达式。
An analytical expression for determining singularity configuration which is a polynomial equation is set, and the numeric symbolic manipulating technique is introduced in the paper.
建立了一种混联型虚拟轴机床主进给机构位置分析的输入输出方程，并推导出奇异位形判别的解析表达式。
The input output equation of displacement analysis for the main feed mechanism of a new type hybrid virtual axis machine tool is established.
以平面五杆2 -DOF并联机构为例进行了机构工作空间分析、运动奇异位形分析、以及力奇异位形分析。
As an example, a planar five bars 2-dof parallel mechanism is discussed, the working space is drawn and the motion and force manipulation singularity are analyzed.
机器人通过奇异位形时的可行运动求解及如何准确地跟踪和实现给定的运动轨迹是机器人技术中急待解决的关键技术问题。
Resolution of the feasible motions of manipulators at singular configurations and accurately tracking the specified trajectory is one of the important technical problems in robotics.
丰富而复杂的奇异位形是并联机构的一个重要特点，位形空间中的奇异位形对并联机构的精度、刚度以及运动性能有着重要的影响。
There are abundant and complicated singularities in parallel mechanisms, which have great effects on the accuracy, stiffness and motion ability of parallel mechanisms.
丰富而复杂的奇异位形是并联机构的一个重要特点，位形空间中的奇异位形对并联机构的精度、刚度以及运动性能有着重要的影响。
There are abundant and complicated singularities in parallel mechanisms, which have great effects on the accuracy, stiffness and motion ability of parallel mechanisms.
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