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采用微分几何方法,提出一种针对一般并联机器人的奇异性的分类方法.依据奇异流形与奇异运动方向的关系,将奇异性进一步区分为一阶奇异性和二阶奇异性,基于二阶奇异点分布的连续性属性将其中的二阶奇异性进一步分为退化和非退化奇异性,并对退化奇异性的物理含义进行了分析,指出退化奇异给机构带来的危险性.最后针对冗余驱动的平面二自由度并联机构进行了分析.
Based on the relation between the singular manifold and the direction of singularity, singularity is further divided into first-order singularity and second-order singularity based on differential geometry method. Based on the second-order singularity The continuity property of point distribution further divides the second-order singularities into degenerate and non-degenerate singularities, and analyzes the physical meaning of degenerate singularity and points out the danger brought by the degenerate singularity to institutions.Finally, Driven planar two-degree-of-freedom parallel mechanism was analyzed.