机械运动网络的结构分析

STRUCTURE ANALYSIS OF KINEMATIC NETWORKS OF MACHINERY

分析运动链节和回路的自由度与约束．建立运动网络自由度计算法及其结构方程、得出链节具有七个自由度的新概念，讨论了自由度和约束的时空性，形成以运动链为基础的结构分析体系。

The mechanisms are kinematic networks consisted of kinmatic chains.This paper deals with the degrees of freedom of chain link,kinematic chains,loops and networks,and calculates them correctly.Especially,it has been proved that there are seven degrees of freedom in spatial motion of chain link.The degree of freedom may disappears or change at a certain conditions of time and place.The equations of kinematic networks have been derived and the method of kinematic tree analysis is introduced for mechanism design.