空间机构动态静力学的网络分析方法

KINETOSTATICS OF MULTI-LOOP SPATIAL KINEMATIC CHAINS USING NETWORK ANALYSIS

运用图论构造了空间多环闭合运动链动力学正解问题的显式模型，提出了揭示这类系统运动与动力正解问题间内在联系的重要定理──同一性定理．在此基础上构造了求解铰内力以（矩）和主动力（矩）的高效规格化算法．

A systematic and symbolic methodology for formulating the equations of spatialkinematic chains with multi-loop constraints is presented in this paper. A significant and powerfultheorem ── IDENTITY THEOREM── has been brought to light. It bridges the gap betweenthe first order kinematics and kinetostatics of spatial kinematic chains. It is believed that this theorem will show even greater potential not only in this practical application but also in the theoreticaldevelopment of dynamics of mechanisms.