【摘要】 在分析空间任意单一移动或转动关节在固定坐标系三维坐标轴上分解运动元素的基础上,并通过坐标齐次变换映射得到其在固定坐标系的等效空间运动元素,然后将各关节的等效运动元素再进行空间三维分解,得到对应支链的等效主移动、等效副移动、等效转动运动元素集合。通过构建与固定坐标系三维坐标轴一一对应的三条移动运动元素集合拓扑表示线,并在其右侧对应构建运动元素集合拓扑表示线,将支链上各关节的等效移动或转动元素集合通过水平区间线表示。针对串联、并联、混联机构的不同形式,本文利用运动元素拓扑表示线,对应给出不同的运算和分析方法,从而得到其自由度的构成和数目。更多还原

【Abstract】 Based on the analysis of sub moving elements in fixed coordinate system from pure translation and pure rotation moving elements,the equivalent space motion element is obtained by means of coordinate transformation,three dimensional decomposition dealt with each joints,equivalent main moving element set and equivalent vice moving element set and equivalent rotation moving element obtained then.Three topological line on the left side is adopted to express the corresponding translation moving element set on three dimensional coordinate axis respectively,another three topological line on the right side is adopted to express the corresponding rotation moving element set on three dimensional coordinate axis respectively,horizontal line with different height and thickness used to display the section,different computation and analysis methods provided to find the construction and number of degree of freedom of serial mechanism and parallel mechanism and hybrid mechanism.更多还原