...φ E ω 模型奇异(Formulation Singularity) 构型奇异(Achitecture Singularity) 位形奇异(Configuration Singularity) 标准Stewart机构 180 180 上平台与固定平台方向相反，相差 3.3.2 下平台 上平台 上平台 下平台 支腿 是否可以将上、下平台...
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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。
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。
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