Singularity configuration of the parallel manipulator is an important issue in the design, application and analysis of parallel robots.
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。
By adopting the method based on instantaneous motion analysis of mechanism, the distinguishing matrix for singularity configuration of 3-rtt parallel robot was established.
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。
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。
Based on the relations between parameters of mechanisms and topology of configuration space, the singularity-free parameters design problem of a general parallel robot is studied.
研究了并联机器人的参数优化设计问题。分析了机构参数与位形空间拓扑性态之间的关系。
However, because of its special configuration and singularity of application, it is hardly to be widely and generally used in the library.
但由于其结构独特、用法单一很难在图书馆得到广泛和普遍使用。
However, because of its special configuration and singularity of application, it is hardly to be widely and generally used in the library.
但由于其结构独特、用法单一很难在图书馆得到广泛和普遍使用。
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