描述变胞机构构态变换的新表示法

New Method to Describe the Configuration Transformation of Metamorphic Mechanisms

针对现有构态变换矩阵不能衍生邻接矩阵和描述运动副空间位置的问题,构造了1种即可衍生邻接矩阵又可描述变胞机构运动副空间位置的构态变换矩阵,此矩阵包含杆件数、运动副数、运动副类型、运动副空间位置、连杆与运动副的连接关系等信息,不但可求出机构的自由度和构造构态变换矩阵衍生出的邻接矩阵,还可以在仅知道构态变换矩阵的情况下,逆向思维描绘出机构运动简图,通过平面变胞机构、空间机构和平面—空间变胞机构构态变换举例,说明此构态变换矩阵便于构造、信息量大、运用范围广。

For the problem that the existing configuration transformation matrix cannot derived adjacent matrix and cannot described kinematic pair space position,a configuration transformation matrix,not only can derived adjacent matrix but also described kinematic pair space position of metamorphic mechanisms,was constructed. The configuration transformation matrix contains some information like the numbers of bar,the numbers of joint,the types of joint,the orientations of kinematic chains,the connectivity of the bars and joints. This matrix not only can calculated the DOF of the mechanisms and can derived adjacent matrix,but also depicted mechanism diagram under thinking only the configuration transformation matrix. By giving some examples,including the planar metamorphic mechanisms,the space mechanisms and the planar-space metamorphic mechanisms,it indicates that the transformation matrix is easy construction,large amount of information and wide application scope.