<正> First the kinematic principle of singularity is proved, that is the intersecting point of threenormal planes of three velocities at three non-collinear points in a rigid body lying in the plane determined by the three corresponding points. It is a sufficient and necessary condition that the velocities ofthree non-collinear points in a rigid body can determine a screw motion of the body Based on thisprinciple, a simple and direct new method to distinguish the singularity of the parallel manipulator islered. Wth this new kinematic method, the 3-RPS parallel manipulator is studied. Its singularity lociare obtained for some orietations for the first time and verified with Grassmann line geometry andscrew theory and the force Jacobian matrix.
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机译:Comparison of methods for measuring and assessing carbon stocks and carbon stock changes in terrestrial carbon pools. How do the accuracy and precision of current methods compare? a systematic review protocol