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。
Test results show that the system's overall efficiency has been improved by adopting parallel optimization method.
实验验证表明采用并行优化方案后，系统的整体效率得到了提高。
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