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People often use the manipulator ' s jacobian matrix or grassmann geometry to analyze the singularities of parallel manipulator . however , both methods are mathematical ones , and ca n ' t find the kinematics reason and universal condition that leads to singular configuration
研究奇異常用雅可比矩陣法和線幾何法，但是它們都是純粹的數(shù)學(xué)方法，不能揭示機(jī)構(gòu)奇異的運(yùn)動(dòng)學(xué)本質(zhì)和找到發(fā)生奇異的普遍性條件。
Its content may be separated into two parts . the first part contains chapter one and chapter two , which treat of the harmonic maps from surface into symplectic groups and quaternion grassmann manifolds . the second part contains chapter three and chapter four , which treat of local isometric immersions from space forms or riemannian products of space forms into space forms
全文分四章，內(nèi)容可分為兩部分：第一部分包括第一、二章，主要論涉從曲面到辛群及四元grassmann流形的調(diào)和映射；第二部分包括第三、四章，主要論涉從空間形式或空間形式的局部riemann積到空間形式的局部等距浸入。