空间机构运动学的网络分析方法

KINEMATICS OF MULTI-LOOP SPATIAL KINEMATIC CHAINS USING NETWORK ANALYSIS

提出用结构矩阵构造空间多环运动链速度方程的网络分析方法．从研究系统结构入手，用基本回路和基本割集定义两类网络──线速度网络和角速度网络，并导出空间闭链速度公式的显范式．模型具有形式简洁、规范化程度高和易于编程等特点，为揭示系统运动学与动态静力学模型间的内在联系奠定了基础．

By applying the gtaph theory , a systematic and symbolic method for formulatingthe first-order equations of spatial kinematic chains with multi-loop constraints is presented in thispaper. Based upon topological analysis, two sets of network, namely, linear velocity network andangular velocity network, are defined by using the fundamental circuit and outset respectively.Consequently, a formal and explicit formula of the first-order kinematics is derived. This work canlay a splid foundation for revealing the underlying relationship between the first--order kinematicsand kinetostatics of spatial kinematic chains.