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)學方法,不能揭示機構奇異的運動學本質和找到發(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。