一种求解复杂平面机构奇异位置的分析图解法

An analytic-graphic approach for determining the singular positions of complex planar mechanisms

提出了复杂多环路平面机构奇异位置分析的一种简明的分析图解方法 ,即先将机构分解为基本运动链 ,再导出基本运动链的奇异性条件 ,后由其相应的奇异几何图形 ,解出其机构的奇异位置。揭示了机构奇异性分析的三个重要结论。还给出了任意复杂多环路平面机构可能产生奇异位置总数的上限计算公式。最后举例说明了一个双环复杂机构的奇异位置求解过程。

A kind of concise analytic-graphic approach for singular position analysis of complex multilooped planar mechanisms was put forward, i.e, firstly, let the mechanism be decomposed into basic kinematic chains(BKC), then deduce the singularity conditions of these BKC and lastly determine the singular position of the mechanism from the corresponding singular geometric figure. Three important conclusions for the singularity analysis of mechanism have been revealed. This paper also presented a calculation formula for computing the upper limit of total sum that the singular positions may probably be engenderd in arbitrary complicated multiloop planar mechanism. The method being put forward in this paper can be popularized to the singularity analysis of spatial mechanisms.