NEW CLASSIFICATION METHODS ON SINGULARITY OF MECHANISM

摘要

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.