空间机构奇异分类新方法研究

New classification methods on singularity of mechanism

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。

Based on the analysis of base and methods of singularity of mechanism,four methods obtained according to the factors of moving states of mechanism and cause of singularity and property of linear complex of singularity and methods in studying singularity, these bases and methods can’t reflect the direct property and systematic property and controllable property of the structure of mechanism in macro,thus can’t play an excellent role in guiding to evade the configuration before the appearance of singularity. In view of the shortcomings of forementioned four bases and methods,six new methods combined with the structure and exterior phenomena and motion control of mechanism directly and closely,classfication carried out based on the factors of moving base and joint component and executor and branch and acutating source and input parameters, these factors display the systemic property in macro,excellent guiding performance can be expected in singularity evasion and machine design and machine control based on these new bases and methods.