一种6杆平面三级组运动分析  

Kinematic Analysis of a 6-Link Planar Third-Class Group

作　　者：韩林[1] 廖启征[1] 梁崇高[1] 

机构地区：[1]北京邮电大学机械电子工程系

出　　处：《北京邮电大学学报》1998年第3期56-60,共5页Journal of Beijing University of Posts and Telecommunications

基　　金：国家自然科学基金;国家攀登计划资助项目

摘　　要：采用复数法对一种６杆平面三级组运动分析问题进行了代数求解。首先建立矢量闭环方程，然后将其转化为复数方程。以此建立的方程在消元运算时非常方便。消元后可以得到一个１８次的输入输出方程，通过对方程次数的判定，证明所得的结果无增根。最后给出了算例。推导过程中的符号运算采用计算机代数系统“ＭＡＴＨＥＭＡＴＩＣＡ”。The kinematic analysis of a 6-link planar third-class group by complex numbers method is presented. Some equations for vector loops are established. Then they are changed into the form of complex numbers. After eliminating variables, a 18th degree polynomial equation in a single unknown can be obtained. The determination of equation degree confirms that the results contain neither extraneous roots nor miss roots. The result has been verified by numerical examples. The symbolic computation is carried out by computer algebra system MATHEMATICA.

关 键 词：机构运动分析 平面机构 代数法 

分 类 号：TH112.1[机械工程—机械设计及理论]