That evades parallel institution Kinematics singularity exempts from unusual input parameter valued space method

That evades parallel institution Kinematics singularity exempts from unusual input parameter valued space method

  • CN 103,714,242 B
  • Filed: 12/06/2013
  • Issued: 04/13/2016
  • Est. Priority Date: 12/06/2013
  • Status: Active Grant
First Claim
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1. that evades parallel institution Kinematics singularity exempts from a unusual input parameter valued space method, it is characterized in that, comprises the following steps:

  • The first step, building with input parameter is the whole parallel institution singular position space distribution curved surface of coordinate axis;

    Second step, does to connect envelope surface in these parallel institution singular position space distribution curved surfaces, obtains exempting from unusual input parameter valued space distribution surface;

    3rd step, exempting from, in unusual input parameter valued space distribution surface, to select appropriate working point, and determines each input parameter span meeting parallel institution job requirement;

    4th step, whether check character merges the span of each input parameter of linkage job requirement, be all positioned at and exempt within unusual input parameter valued space distribution surface, if so, then eliminates the Kinematics singularity of parallel institution in the design phase;

    5th step, when exist the input parameter span meeting job requirement exceed exempt from unusual input parameter valued space distribution surface time, Reasonable adjustment working point, finally makes the span of each input parameter all fall into and exempts within unusual input parameter valued space distribution surface;

    6th step, by exempting from the input parameter span meeting job requirement in unusual input parameter valued space distribution surface, exempts from unusual valued space as input parameter, for monitoring in control procedure and preventing parallel institution to be absorbed in Kinematics singularity state.

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