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运用微分几何的方法分析了存在于并联机构中的各种奇异位形。采用冗余驱动方法解决并联机构奇异位形的控制问题。设计并实现了平面二自由度并联实验装置 ,并进行了冗余驱动控制实验
Using the method of differential geometry, we analyze the various strange shapes existing in the parallel mechanism. Adopting Redundant Driving Method to Solve the Control Problem of the Singularity Configuration of Parallel Mechanism. Design and implementation of planar two degrees of freedom parallel experimental device, and conducted a redundant drive control experiment