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在分析以往机构奇异分类依据和方法的基础上,得到以机构运动状态、机构奇异形成的原因、奇异线性丛性质、研究机构奇异的方法为依据的4种方法,4种传统分类依据和方法在宏观上缺乏对机构结构的直接性、系统性、可控性的反映,对机构奇异出现前的规避研究不能起到很好的指导作用。鉴于以往机构奇异分类方法的不足,提出6种全新分类方法,它们能直接紧密地与机构的组成结合、与机构奇异时的外在表象结合、与机构的运动控制结合,将运动基、关节构件、执行构件、支链、动力源、输入运动参数等因素作为分类的依据,这些因素在宏观上具有很好的系统性,从这些依据出发,在搜寻机构奇异的规避途径和方法、机构设计、机械控制等方面将起到很好的导向作用。
On the basis of analyzing the singular classification basis and method of previous institutions, we get four kinds of methods based on the state of mechanism movement, the cause of formation of singularity of institutions, the singular linear plexus and the singularity of research institutions. Four traditional classification bases and methods The macroscopic lack of direct, systematic and controllability of institutional structure can not play a good guiding role in the study of evasion before the emergence of institutions. In view of the shortcomings of singularity classification methods in the past, six new classification methods are proposed, which can be directly and closely combined with the composition of the mechanism, combined with the external appearance of the mechanism when the singularity of the mechanism is combined with the movement control of the mechanism, , The implementation of the components, branches, power sources, input parameters such as movement as the basis for classification, these factors have a good macro-system, starting from these bases in the search for ways and means of avoiding the strange institutions, Mechanical control and other aspects will play a very good role in guiding.