基于超平面同伦法的平面过约束机构判定  

The Determination of Planar Overconstrained Mechanisms Based on Hyperplane Homotopy Method

作　　者：刘立宏[1] 王彦[2] 韩福峰[1] 杭鲁滨[1] 杨廷力[3] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200030 [2]上海交通大学成人教育学院,上海200030 [3]金陵石化公司,南京210036

出　　处：《上海交通大学学报》2006年第7期1178-1182,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(502075070)

摘　　要：过约束机构的研究涉及到非线性代数方程组的高维解问题,现有的数值法难以确定方程组是否存在高维解,提出超平面同伦法,并基于该方法提出了过约束机构的判定准则.发现了一种平面四回路过约束机构,并运用判定准则对该机构进行验证.通过对该四回路过约束机构的过约束条件分析,构造了一类新的平面过约束机构.For many mechanical systems, a set of kinematic equations can be described by a system of nonlinear algebra equations. The system of overconstrained mechanisms involves positive dimension solutions. However, it is difficult for a numerical method to distinguish isolated solutions and positive-dimensional solutions. The hyperplane homotopy method was put forward, which transforms the problem of existence of positive-dimensional solutions to the problem of existence of solutions. Based on the new method, a criterion of determining overconstrained mechanisms was presented and a new four-loop planar overconstrained mechanism was certified. After analyzing some internal conditions of this overconstrained mechanism, a new class of overconstrained mechanisms was constructed.

关 键 词：过约束机构 超平面同伦法 非线性代数方程组 基本运动链 

分 类 号：TH112[机械工程—机械设计及理论]