空间基本运动链结构分析与综合

ANALYSIS AND SYNTHESIS OF SPATIAL KINEMATIC CHAINS

基于结构组成学原理，提出空间基本运动链的概念，运用图论建立了基本链的拓扑模型．在对基本运动性进行类型划分的基础上，运用组合数学研究基本链的编码及分析与综合方法，并简述链的同构和非正则问题。

Based upon the structural combination principle, a new concept, basic spatial kinematic chain (SBKCs for short), is introduced, and the topological models of SBKCs are established. Using the graph theory and combinatorial theory, SBKCs are classified and coded in a very simple manner. The analysis and synthesis of determinate SBKCs are completed. Finally,the isomorphism and non-normalization of SBKCs are discussed briefly.