曲柄群驱动机构的拓扑结构初探

Preliminary Exploration of the Topological Structure of the Crank- Group Driving Mechanism

曲柄群驱动机构是一种具有冗余特性的欠驱动机构。基于拓扑结构理论,以曲柄群驱动机构中的典型结构(单从动曲柄驱动机构和双从动曲柄驱动机构)为例,通过运动链和结构矩阵,对其拓扑结构进行了初步的研究和探索。通过拓扑结构理论解决机构学的问题,实现了拓扑学与机构学的有机结合,对于推动学科的交叉研究和发展大有裨益。

The crank- group driving mechanism is a kind of underactuated mechanism with redundant characteristics. Based on the topological theory,taking the typical structures of the crank- group driving mechanism（ the single driven crank driving mechanism and the double driven crank driving mechanism） as examples,a preliminary study and exploration of its topological structure is conducted by using kinematic chain and the matrix. To solve the mechanism problems through the topological structure theory,the organic integration of topology and mechanism is achieved. And there＇s no doubt that it＇s of great importance for the study and the development of interdisciplinary.