含复铰有移动副平面机构运动分析数学模型的自动建立方法

摘要

We present a method for automatically establishing the model for kinematic analysis of planar mechanism with multiple joints and prismatic pair.With the adjacency matrix of a component,we produce the breadth（or depth） priority generation tree,thus obtaining the basic loops of a kinematic chain（or mechanism）.According to these basic loops,a mathematical model for the kinematic analysis is automatically established and solved.The mathematical model links the structural analysis of the kinematic chain with the kinematic analysis of a mechanism in the sense of computational mechanism,thus providing an effective method for a given mechanism′s kinematic analysis and automatic modeling and solving and an approach for the structural type optimization of the kinematic synthesis of a mechanism.%提出了一种含复铰有移动副平面机构运动分析数学模型自动建立和求解的方法。以构件邻接矩阵为基础,得到其广度（或深度）优先生成树,进而得到运动链（或机构）的基本回路。根据这些基本回路自动建立运动分析数学模型并求解。将运动链结构分析和机构运动分析联系了起来,从而为给定机构的运动分析之自动建模和求解提供了一种有效方法。