The motion control of the hexapod parallel mechanism with high speed and high acceleration depends on the accurate dynamics model, proper simplification and real-time computing.
实现六足并联机构高速，高加速运动控制的关键在于所建动力学模型的准确表达、适当简化以及实时计算速度的满足。
By adopting the method based on instantaneous motion analysis of mechanism, the distinguishing matrix for singularity configuration of 3-rtt parallel robot was established.
采用基于机构瞬时运动分析的方法，建立了3 - RTT并联机器人的奇异位形判别阵。
As an example, a planar five bars 2-dof parallel mechanism is discussed, the working space is drawn and the motion and force manipulation singularity are analyzed.
以平面五杆2 - DOF并联机构为例进行了机构工作空间分析、运动奇异位形分析、以及力奇异位形分析。
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