中文摘要：

机构奇异位形分析是实施机构运动控制和作业空间规划的基础,也是目前平面并联机构研究中需要解决的关键问题之一。针对多自由度平面Ⅲ级机构的运动方程的解析表达式很难建立的现象,提出一种分析奇异位形的新方法。分别保留一个主动件的运动,而将其余主动件的位置固定,借助速度瞬心的解析求解,获得平面单自由度机构的运动传递函数,通过运动传递函数可以对机构的3种奇异位形进行分析。以3RRR平面Ⅲ级机构为例,用建立的方法获得了奇异位形分布域,并采用运动仿真,证实了方法的正确性。

英文摘要：

The singularity analysis is the basis for the control of mechanisms and the programming of their work areas.It is the key problem in analyzing parallel mechanisms.We present a new method for solving the problem of establishing the transfer function of the velocity of a planar 3-Level mechanism with more than one degree of freedom.By locking all the input links but one in the multi-DOF mechanism,we apply the analytical method for solving instant centers to establish the transfer function of the velocity with instant centers.We can study three singularities of the mechanism.We also present the singularity area of the planar 3-Level mechanism 3RRR with this method.