内力封闭自适应机构初始运动链综合的胚图支链法

Contracted Graph and Subchain Method for Type Synthesis of Incipient Kinematic Chains of the Internal Force Closed Self-adaptive Mechanism

根据内力封闭型自适应机构初始运动链的自由度特征,提出了一种运动链构型综合的新方法,即胚图支链法。此方法视运动链由多元素杆和支链两部分构成,并通过一种有序分步的方法构建运动链的拓扑胚图,然后在拓扑胚图上配置支链形成广义拓扑图,再转化为运动链。利用此方法,综合出了自由度为0或-1的9杆、10杆运动链的全部独立构型,为内力封闭自适应机构的创新设计提供了理论依据。

According to the freedom characteristics of the incipient kinematic chain of internal force closed self-adaptive mechanism, a new method of type synthesis for the kinematic chains was put forward, that is method of contracted graph and subchain. In the method, the kinematic chains were divided into the compound links and the subchains. The contracted graphs were constructed by sequence and step, then the subchains were collocated form the generalized topological graphs and kinematic chains. All possible independence structures of 9 and 10 links with 0 or -1 degree of freedom are brought forward by the method of contracted graph and subchain, and the theory provides fandamentals for innovation design of internal force closed self-adaptive mechanism.