本文概述了如何利用应变空间表述的伊留辛公设在理论上导出奇异点上的完整的本构关系，并且还给出应用于岩石帽盖模型的一个例子。
This paper derives the integrated constitutive relation at the singular point theoretically by using Hyushin's postulate in the the strain space, and gives an example applicable to the rock cap model.
驱动冗余可有效消除并联机构在作业空间中的奇异位形，但其导致驱动力分配不唯一。
Redundant actuation can effectively eliminate singularities in the task space of a parallel manipulator, but the drive force distribution is not unique because of the redundant actuation.
用傅里叶变换对含有噪声干扰的试验数据进行滤波，通常难以确定奇异点在空间的位置及分布情况。
It is difficult to confirm the position and distribution of singularities in space generally when the test data with noise disturbance is filtered by Fourier transform.
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