用近似同伦法确定空间7H连杆机构的装配构形  

TO DETERMINE THE CONFIGURATIONS OF SPATIAL 7H\=LINKAGE BY APPROXIMATE HOMOTOPY METHOD

作　　者：张纪元[1] 牛志纲[1] 

机构地区：[1]上海海运学院机械系

出　　处：《机器人》1999年第4期256-259,共4页Robot

基　　金：国家自然科学基金

摘　　要：对于含螺旋副（Ｈ）的空间连杆机构或机器人机构，无法用有理化法将其分析与综合方程组化成多项式方程组，因而不能用精确同伦法求解这些机构的多解问题．本文提出近似同伦法并用该法首次解决了空间７Ｈ连杆机构的装配构形问题．本文方法适用于求解任何含Ｈ副的空间连杆机构或机器人机构的多解问题．For a spatial linkage or a robot mechanism with helical pairs (H), its analysis or synthesis system of equations can not be transformed into a system of polynomial equations by triangle alternate, so the multiple solution problem of this mechanism can not be solved by the accurate homotopy method. In this paper, an approximate homotopy method (AHM) is suggested and configuration problem of the spatial 7H linkage is first solved by AHM. The method of this paper is suitable for solving the multiple solution problem of the spatial linkage or robot mechanism with Hpairs.

关 键 词：空间连杆机构 装配构形 同伦法 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]