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在分析机构图论现状的前提下,对机构中常用运动副、机构运动基本单元的移动基和转动基的空间活动能力进行描述定义,基于机构由构件通过关节连接而成的事实,提出一种新的构件关系拓扑图论描述方法。该方法以构件框、约束构件框、构件关系线、约束构件关系线、相邻构件空间相对活动能力关系为要素,对串联机构、并联机构、混联机构进行新的图论描述。基于支链空间活动能力维度和机构空间活动能力维度定义,以实例形式给出混联机构自由度的分析方法,并得到机构非奇异的充要条件,在此基础上推出机构出现奇异的充要条件,引入机构运动支链输入基位置极限的同时/同化、同时/非同化、独自出现位置极限的三分法,得到给定混联机构出现位置奇异、姿态奇异、位置和姿态奇异的情形数,并给出了一般形式的串联、并联、混联机构的奇异组合和情形数的分析途径。
On the premise of analyzing the status quo of graph theory of institutions, this paper describes and defines the spatial activities of moving base and rotating base, which are commonly used in sports organizations and agencies. Based on the fact that the organization is formed by connecting components through joints, New Component Relationship Topology Graph Theory. In this method, a new graph theory is described for the series, the bounding, the relational, the relative activity ability of the adjacent components. Based on the definition of the dimensionality of the branch space activities and the dimensionality of the organization’s space activities ability, the method of analyzing the degree of freedom of the hybrid mechanism is given by way of example. The necessary and sufficient conditions of the mechanism are obtained. On the basis of this, Condition, introducing the simultaneous / assimilation, simultaneous / non-assimilation, and position-limiting trichotomy of the input branch base position of the movement branch, we get the number of singularity, strange posture and singular position and posture of a given hybrid mechanism , And gives the general form of the series, parallel, hybrid institutions singular combinations and the number of cases analysis.