【摘要】 共线铰链连杆机构在共线位置瞬时出现运动不确定现象及部分瞬心无法求出等运动特性,这是众所周知的.本文利用机构广义坐标虚位移线性方程的雅可比矩阵求秩,论证了共线位置时运动不确定的特性,其次论证了共线位置时机构的部分瞬心用常规方法不能确定的特性;最后提出求机构共线位置全部瞬心的方法更多还原

【Abstract】 This paper, by means of solution of jacobi matrix, demonstrated that the movement of the link mechanism is not definite at the co-line position, and that there is no way to find out several instantaneous centers. Mean while, it brought forward a new method to find out all of the instantaneous centers when the mechanism is at the co-line position.更多还原