... 奇点的凝聚 condensation of singularities 奇点还原 reduction of singularity 奇点集（合） set of singularities ...
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The results verify the relation between actuation redundancy and singularity reduction, which provides a reference for further improving the performance of parallel mechanisms.
其结果证实了冗余驱动与奇异降维之间的关系，对于进一步提高并联机构的性能提供了参考。
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