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提出了求解任意复杂多回路平面连杆机构及操作手奇异位置分析的模块法。即一个复杂机构可看作是由输入主动副和一个或多个零自由度的基本运动链组成 ,对这些数量有限的基本运动链进行奇异分析 ,然后将之看作是复杂机构和操作手奇异分析的基本模块 ;仅当一个基本运动链达到奇异位置时 ,该复杂机构即处于奇异位置。还得到了任意复杂多回路平面机构产生奇异位置的奇异性条件总数的计算公式。因此 ,该方法可求解所有复杂的多回路平面机构及操作手的奇异位置分析。用二个基本运动链及一个十杆复杂机构的奇异分析来演证该方法。
A modular method to solve any complex multi-loop planar linkage mechanism and manipulator’s singular position analysis is proposed. That is, a complex organization can be seen as consisting of an input active deputy and one or more zero-degree-of-freedom elementary kinematic chains that perform a singular analysis of these finite number of elementary kinematic chains and then treat it as a complex mechanism and manipulator singularities Analysis of the basic module; only when a basic kinematic chain reaches a singular position, the complex mechanism that is in a singular position. We also get the calculation formula of the total number of singularity conditions for generating singular positions in any complex multi-loop planar mechanism. Therefore, this method can solve the singular position analysis of all complex multi-loop planar mechanisms and operators. The method is demonstrated by a singular analysis of two basic kinematic chains and a complex 10-bar mechanism.