“高副低代”的运动学等价关系

The Kinematic Equivalent Relations Betweew Higher and Lower Pairs

通过定义运动副的“形状矩阵”建立了一个统一描述高副和低副的符号体系,基于这一符号体系,通过Euler角分解,确定了高运动副由低运动副代替的运动学等价关系,通过举例,说明了这一替代的科学性。

By defining the 'shape matrix' of a kinematic pair, this paper develops an unified notation system for describing higher and lower pairs. Based on the system, the kinematic equivalent relations between higher and lower pairs are determined. As an illustration, two examples are given in the end.