论平面连杆机构运动与力分析中的同一性问题

ON IDENTITY OF KINEMATIC AND FORCE ANALYSIS OF PLANAR LINKAGES

运用网络分析理论,提出了用拓扑矩阵构造铰接杆组运动学与动力学正解方程的一般方法,导出了这两类数学模型的规格化表达格式,并由此提出了揭示二者之间内在联系的重要定理——同一性定理。该定理的提出可简化平面连杆机构的力分析手续,极大地提高了求解效率。

By applying gragh theory, a systematic and symbolic method for formulating the kinematic and kinetostatic equations of planar link-groups has been developed in this paper. A powerful theorem, IDENTITY THEOREM by name, has been brought to light, which bridges the gap between these two kinds of apparently unrelated mathematical models. With this theorem, the precedure of force analysis of planar link-groups with revolute joints can be much simplified, and large amount of computational time and incore-memory can be saved.