%0 Journal Article
%T A Geometric Method of Singularity Analysis for Parallel Robots<br>并联机器人奇异位形分析的几何方法
%A SHEN Hui
%A WU Xu-Zhong
%A LIU Guan-Feng
%A LI Ze-Xiang
%A <br>沈辉
%A 吴学忠
%A 刘冠峰
%A 李泽湘
%J 自动化学报
%D 2004
%I 
%X Using the language of differential geometry, this paper provides a fine classification of singularities of general parallel robots. Based on the relations between singularity manifolds and singularity distributions, these singularities are further subclassified into first-order singularities and second-order ones. Furthermore, the second-order singularities can be distinguished as degen-erate or nondegenerate singularities by whether they form continuous curves on configuration manifolds. This paper also gives an insight into the degenerate singularities, which can sometimes be a source of danger not only to the mechanism itself but also to workers to operate the mechanism. Finally, a planar two degrees-of-freedom mechanism with one redundant actuator is given to illu-minate the method.
%K Parallel robots
%K singularity
%K differential geometry
%K distribution<br>并联机器人
%K 奇异点
%K 微分几何
%K 分布
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=FBBFEA32E12A401B&yid=D0E58B75BFD8E51C&vid=340AC2BF8E7AB4FD&iid=38B194292C032A66&sid=6C069F4B248105A5&eid=50EA2A80A7D254EF&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=6