空间连杆机构位置分析的闭链装配法

Closed Chain Assembly Approach to Spatial Linkage Position Analysis

提出一种空间连杆机构位置分析的新方法。首先，利用假设的开链机构实现了机构结构尺寸参数的描述与存储，再用闭链装配的数学条件直接建立位置分析矩阵方程，从而实现了对矩阵方程的直接推导并求解出位移输出量。实际的算例显示了这是一个系统和实用性都很强的方法，特别适用于计算机上运动分析算法的实现。

A new approach to spatial linkage position analysis is presented in this paper First,the convenient method is used to describe and store linkages dimensional parameters by means of the supposed open chain Then matrix equations about the position analysis are given according to the mathematical conditions of closed chain assembly,so that the output positions can be deduced directly from above equations This approach proves to be systematical,practical and the better one for realizing the algorithm of the kinematic analysis with computers