空间连杆机构中四面体法的单元形成研究

Research on unit formation in the methd of tetrahedron for spatial linkage mechanism

本文探讨了空间连杆机构中四面体法的单元形成原则与方法，提出了“虚单元”概念和坐标系固化的策略，并以实际机构为例具体阐述了四面体法解决问题的包含单元形成和单元求解的完整的步骤与方法，较好地解决了四面体法的单元形成问题。

This paper probed into the principles and methods of unit formation in tetrahedron method for spatual linkage mechanism.It put forward a concept of 'virtral unit” and a tactic of solidification of coordinate system.Take a real mechanism as an example it expounded concretely the complete steps and unit solution being solved by tetrahedron method,and solved fairly good the problems of unit formation in tetrahedron method.