提出新方法识别连杆机构非横截运动分支，解决长期未解的奇异点分析难题。
Identification of Non-Transversal Bifurcations of Linkages
- 基于运动学切锥构造，从局部分析中提取分支分离信息
- 通过改进算法实现非横截分岔的精确识别
- 适合研究机构运动学与奇异性的学者使用
局部分析是研究连杆机构奇异性和自由度的经典方法。其核心成果是描绘出在某一构型下的有限运动局部图景，揭示该点处的有限自由度及光滑运动曲线的切线方向。然而，该方法无法直接区分不横截相交的运动分支（此类情况较少见，近来才被文献关注）。数学基础为运动学切锥。本文表明，运动学切锥的构造定义已包含分离不同运动分支所需全部信息，并基于已有算法框架改进，提出可计算方法。
原文摘要 · Abstract (English)
The local analysis is an established approach to the study of singularities and mobility of linkages. Key result of such analyses is a local picture of the finite motion through a configuration. This reveals the finite mobility at that point and the tangents to smooth motion curves. It does, however, not immediately allow to distinguish between motion branches that do not intersect transversally (which is a rather uncommon situation that has only recently been discussed in the literature). The mathematical framework for such a local analysis is the kinematic tangent cone. It is shown in this paper that the constructive definition of the kinematic tangent cone already involves all information necessary to separate different motion branches. A computational method is derived by amending the algorithmic framework reported in previous publications.
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