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提出了一种规避并联机构转向点奇异性问题的扰动函数方法.通过研究并联机构的构型分岔特性发现,单输入参数下的第2类奇异问题属于转向点奇异类型,并将并联机构通过转向点的模式划分为:保持的构型、非保持的构型和轨迹路径构型3种方式.研究扰动对构型分岔特性的影响表明,扰动使未受扰动系统的构型曲线在奇异位置附近被有限分离,且没有共同的奇异点.根据这一发现,提出了规避并联机构转向点奇异性问题的扰动函数方法,并给出了并联机构以保持的构型和非保持的构型通过转向点奇异位置的扰动函数构造方法.
A disturbance function method to avoid the singularity problem of turning point of parallel mechanism is proposed.By studying the configuration bifurcation characteristics of parallel mechanism, it is found that the singular singular problem of type 2 belongs to singularity of turning point and the parallel mechanism passes The mode of turning point is divided into three kinds of modes: retained configuration, non-retained configuration and trajectory path configuration.The research on the influence of disturbance on configuration bifurcation shows that the perturbation makes the configuration curve of undisturbed system singular Based on this finding, a disturbance function method to avoid the singularity problem of turning point of parallel mechanism is proposed, and the structure of the parallel mechanism to maintain and the non-retaining structure are given Construction of Disturbance Function by Singularly Singular Position of Turning Point.