用等效机械手解空间法分析空间机构可动性

THE EQUIVALENT MANIPULATOR SOLUTION-SPACE METHOD OF MOVABILITY ANALYSIS OF SPATIAL LINKAGE

本文利用空间机构等效机械手的解空间对合球副的空间机构可动性进行分析，并揭示出组成空间机构的装配构形不同，构件间的相对运动亦不同的特点，即装配构形对机构运动类型的影响．并论述了等效机械手的解空间与静止构形和不定构形的关系．

The priblem of linkage movability exists in linkage synthesis after choosing the linkage type. it's simple to analysis the movability of planar linkage, and there is few problems that have not been solved completey in this area. But for its spaciality,the spatial linkage movability is much more difficult to analysis. Although much work have analysis. In this paper,the movability amalysis of spatial linkages that includesphere-pair (s) have been done with the solution-space of equivalent manipulators of these spatial linkages, and it's revealed that the relative motiom between any two links depednds upon the assembly configration, i. e., assembly configuration influences the motion type of linkage. the rtelation of limkage and static configuraton and the relation of liinkage and indefinite configuration havve also been studied in this paper. The metho for analysing the spatial linkage movability developed in this paper is of comparatively great pratical value to spatial linkage synthesis, specially to computer aided design of spatia I linkage.