三个复杂基本运动链奇异性条件的求解与识别

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。即对组成复杂机构的数量有限的基本运动链进行奇异分析 ,推导出这些复杂基本运动链产生奇异位置构型的奇异性条件 ,然后将之看作是复杂机构和操作手奇异分析的基本模块 ;只要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。在此基础上本文又推导出三个复杂基本运动链产生奇异位置构型的奇异性条件 ,从而扩展了用该方法求解复杂多回路平面连杆机构及操作手奇异位置的应用范围。

Solutions for Singularity Condi-tions for Three Complex Basic Kinematic Chains

A complex linkage is regarded as one composed of the input links and one or more zero degree of free dom basic kinematic chains. These basic kinematic chains then served as the modules or building blocks of more complex linkages and manipulators. When a basic kinematic chain reaches a singular configuration, the complex linkage is at a singular position. Thus, the method of singularity analysis for a limited number of basic kinematic chains can be expanded to all complex linkages and manipulators. As a continuation work of the module approach for the singularity analysis ,this paper derives again the singularity conditions of another three complex basic kinematic chains, which expands the application ranges of the module approach for the singularity analysis of all complex multiloop planar linkages and manipulators.