摘要
通过引入广义副、广义运动链等概念 ,提出空间运动链第二类消极运动副存在的判据 。
A passive joint is the joint that loses one or more degrees of freedom when the kinematic chain is formulated. This paper focuses on the detection of Type Ⅱ passive joints in spatial kinematic chains, as it is one of the key problems not well solved up to now in type synthesis of spatial kinematic chains. Some new definitions such as generalized pairs and generalized kinematic chains are introduced at first. A criteria is then proposed to detect Type Ⅱ passive joints in spatial kinematic chains based on the new definitions. Using the proposed criteria, Type Ⅱ passive joints in spatial kinematic chains can be detected easily.
出处
《机械科学与技术》
CSCD
北大核心
2000年第1期73-74,共2页
Mechanical Science and Technology for Aerospace Engineering
基金
河南省自然科学基金
