运动物体上三点速度关系及其应用

Velocity Relationship and Its Application of Three Points in a Moving Rigid Body

讨论做空间运动的物体上不在同一直线上的三点的速度关系 ,提出物体上三点的速度能确定一个物体的螺旋运动的充分必要条件是物体上不在同一直线的三点的速度在此三点决定的平面上的三条法线交于一点。

This paper discusses the velocity relationship between non-collinear three points in a spatially moving rigid body.It is pointed out that the sufficient and necessary conditions which can be used to determine a screw motion by the velocities of three non-collinear points in a rigid body are that three normal lines in the plane determined by the three points of the three velocities intersect at a common point.The sufficient and necessary conditions play an improtant and key role to study the distribution of general-linear-complex singularity of parallel manipulators.