混合驱动平面2自由度七杆机构的奇异性分析

基于机构输入输出的速度Jacobian矩阵，提出了求解平面多环多自由度机构奇异位形的一般方法．利用这种方法详细分析了用于混合驱动器的平面2自由度七杆机构的4类奇异位形，得出了平面2自由度七杆机构的5种奇异位形，并讨论了它们各自的特点．提出了平面多环多自由度机构造免奇异位形出现的3种方法；基于平面单环N杆机构的可装配性，分析得出了避免这些奇异位形的几何条件．设计算例及仿真结果验证了上述结论．

Singularity Analysis of 2-DOF Planar Seven-Bar Hybrid Mechanisms

Based on velocity Jacobian matrix relating the input speeds with the output speeds of the mechanism, a general method, which is used for solving the singularity of planar mutli loop multi DOF mechanisms, was presented. Four kinds of singularity of 2 DOF planar seven bar hybrid mechanisms were analyzed by this method. Five kinds of singular position were discovered, and their characteristics were discussed respectively. This article proposed three methods on how to avoid singular positions of planar multi loop multi DOF mechanisms. Based on the assemblability of planar single loop N bar mechanisms, it analyzed and found the geometry conditions to avoid the singular positions of planar seven bar mechanisms. In order to verify aforementioned conclusion, it gave a case in which the singular curve is plotted and simulated.