A modified numerical method for dynamical equations of the multibody systems with singularity position 具有奇异位置的多体系统动力学方程的改进算法
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Some examples are given to validate the algorithm . two types of singularity are defined and then the whole workspace is cut into several singularity - free sub - workspaces 接着，根据五杆机构可能存在的几种奇异位置，对连杆点总工作空间进行分区，还给出了子空间边界的求解算法。
