Analysis Of Singular Configuration Characteristics And Its Application Research Of Mechanism

Singular configuration, also known as a special configuration, is the intrinsic property of mechanisms. It is closely relative to the motion ability, force, control , accuracy and other performance of mechanism. Otherwise, there are many mechanisms working in singular configuration, such as aerocraft door closing and locking, aircraft landing gear, space docking system etc. Therefore, in-depth researches of the nature property of singularity of mechanism have great significance on applications of singularity functions and also on mechanisms which needed reduce and eliminate effects of singularity. This paper aim at this problem following research work:This paper firstly elaborated the existing classification of singularity, and compared these classifications, analysis the problem of these classifications' method, then based on the definition of DOF of mechanism and on the physical meaning of the singularity, from the variational point proposed the classification and determination method of the singularity configuration of closed-loop mechanism. This method divide singular configuration into three types: Configuration Space Singularity, Actuator Singularity, End-Effector Singularity. At last, examples are given to illustrate the application of the method to these closed-loop mechanisms.Analysis the Second order singular configuration of mechanism. Proposed the necessary condition for finite motion and appearing bifurcate motion in the configuration singularity of mechanism; Pointed out that actuate joint lied on dead point and passive joint existing instantaneous motion when mechanism occurs actuator singularity, and the instantaneous motion of passive joint has two situations: One is the instantaneous infinitesimal movement, while the other is the finite movement. Proposed the necessary condition for passive joint existing finite movement when mechanism occuring actuator singularity; Defined a degenerate end-effector singularity, and proposed the necessary condition for it , then acquired the structural parameters and location of the required conditions when occurring degenerate end-effector singularity.Study on the relationship between the three type's singularity of mechanism and the force, explicit the physical meaning of the three type's singularity and analyzed its application.