【摘要】 以一种两自由度多环混合驱动机构的可动性分析为例 ,给出了一种同样适于其它多自由度多环混合驱动机构可动性分析的方法 ,即首先由机构的速度输入与输出矩阵 ,推出机构产生奇异位形的条件 ,再结合该机构的可动性要求和单环多杆机构的可动性的充要条件 ,对整个机构每个环路的可动性进行分析 ,最后综合分析得出混合驱动机构的可动性条件。更多还原

【Abstract】 Taking the mobility analysis of a kind of 2-DOF multi-looped hybrid driving mechanism as an example,an analytic method of mobility which suits similarly to other multi-DOF and multi-looped hybrid driving mechanisms was presented.First of all,push forward the conditions of singular configuration engendered by the mechanism according to the velocity input and output matrix of the mechanism,and then carry out analysis upon the mobility of every loop of the entire mechanism by combining with the mobility requirements of this mechanism and the sufficient and necessary conditions of mobility in single looped multi-rod mechanism.Finally,by means of synthectic analysis,the mobility conditions of hybrid driving mechanism is obtained.更多还原