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Abstract: Topology structure of configuration space of parallel
manipulators are analyzed by using differential topology and
manifold, the relations between configuration space singularity and
topology structure are descried, several typical planar and spatial
mechanisms are used for illustration.
Key words: Parallel manipulators Configuration space Topology
Singularity
CLC No: TP164
国家自然科学基金海外青年合作研究基金资助项目(50029501). Received 20010607, received in
revised form 20011224
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