该文提出确定机构奇异位置的两种方法：三角化法和矩阵法。
In this paper, triangular method and matrix method have been suggested inorder to determine singular position of mechanisms.
只要一个基本运动链达到奇异位置时，该复杂机构即处于奇异位置。
When a basic kinematic chain reaches a singular configuration, the complex linkage is at a singular position.
仅当一个基本运动链达到奇异位置时，该复杂机构即处于奇异位置。
Whenever only one of the basic kinematic chains reached to a singular position, it shows that this complex linkage is situated in a singular position.
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.
还得到了任意复杂多回路平面机构产生奇异位置的奇异性条件总数的计算公式。
In addition the computing formulae of the total number of singularity requirements for the arbitrary complex multilooped planar linkage to produce a singular position were obtained.
与欧拉角比较，姿态运动的四元数表达的主要优点是数值计算过程中不存在奇异位置。
Compared to the Euler angles the main advantage of the quaternions expression of attitude motion is the avoidance of singular position in numeration procedure.
通过代数法得到的相似平台3upu并联机构奇异位置，与用矢量法对一般3upu并联机构所作的分析一致。
The singular position of similar platform 3upu reached by algebraical method is identical to the position of general 3upu analysized by vector method.
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.
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.
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