含复铰平面开链和拓扑对称性在型综合中的应用

Application of Planar Open Chain with Multiple Joints and Topological Symmetry to Type Synthesis

提出了在运动链型综合组合法中应用的含复铰平面开链的有关概念 ,给出了构造平面开链的方法 ,以及六杆以下所有的开链型式。同时 ,讨论了平面闭式运动链和平面开链中铰链点拓扑对称性的判断问题 ,给出了判断方法及其在型综合中的应用方法。研究表明 ,利用拓扑对称性可以有效地减少同构运动链型的数量。

We first present the concepts about planar open chain with multiple joint which has been used in the combination method of type synthesis. Then we give the method for making up planar open chain, and all open chains with less than 6 components are given. After that, topological symmetry between joints in planar open and closed chain is discussed, and the method for identifying topological symmetry, and its application to type synthesis is studied. The study shows that using topological symmetry in the combination method of type synthesis, the number of isomorphic kinematic chain can be markedly reduced.