铰接杆系机构的运动形态研究-结构工程专业论文.docxVIP

浙江大学结构工程硕士学位论文STUDIES 浙江大学结构工程硕士学位论文 STUDIES ON THE KINEMATlC MORPHOLOGY OF PIN．BAR MECHANlSMS Abstract There are more and more mechanism analysis in modern structure designing．Many kinds ofnew type spatial structures such as tensegrity and deployable stnlctures are classified to traditional mechanisms．At the same time，during the construction of some large—scale structures，the principle of mechanical motion arc widely used．The analysis of kinematics morphology is very important in the research of mechanism．This paper takes singer-mechanism·mode pin·bar system as example，and pays attention to the movability of pin-bar system．me strategy to track the kinematic paths and bifurcation points． The paper sets a view to the energy criteria of stability,and instructed the movable characters and geometrical stability of pin-bar systems．Then the paper points out that traditional analysis of movable characters is a special kind of stability analysis．Actually,the Maxwell Code and balance matrix criteria are degenerate solutions deduced from the positive definite of second．．orcler variation of system potential energy T1le paper recalls the constitutes of pin-bar equilibrium matrix particularly as well as singnlar-value deposition method．Also the paper tells the physical meaning offour sub-spane vectors in the equilibrium matrix in detail． ne paper points out it fault to judge the movability of pin-bar systems with Maxwell code 0r balance matrix criteria．The mean points is that these two criteria responses to second-order vadaUon of system potential energy．The paper sets the view to the energy and analyses the movability ofa special pin-bar system which contains a infinitesimal mechanical mode．The results tells the movability should be judged by the positive definite of higher-order variation ofsystem potential energy． 111e paper proves that the equilibrium equation is the controller equation for the kinematics morphology of mechanisms，and the solution of kinematic paths cal