并联机构中奇异性的稳定性问题

Stability of Singularity in Parallel Manipulators

将映射理论中的临界点稳定性概念引入并联机构的奇异性分析中 ,提出稳定奇异性和非稳定奇异性的概念 ,研究了低维并联机构奇异性的稳定性情况 ,对几种典型机构的分析验证了这种分类的合理性。提出的分析方法可以为并联机构的机构设计和控制等方面提供理论依据。

This paper introduces the concept of the critical points stability of the mapping theory into the singularity analysis of parallel manipulator and proposes the concept of stable singularity and unstable singularity. Some low degree of freedom parallel manipulators are researched into and the results verify that the classification of singularities according to their stability is reasonable. The proposed method can provide theoretic foundation for the structure design and control of parallel manipulators.