含复铰有移动副平面运动链的结构类型综合方法-机械设计及理论专业论文.docxVIP

湘潭大 湘潭大学硕士学位论文 II II ABSTRACT The significance of type synthesis of the planar kinematic chain is that it can supply viable schemes for the conceptional design of mechanism and establish a base for structure optimization of mechanism. The type synthesis of the planar kinematic chain is to find the all frame of the chain with a certain number of bar and degree of freedom (DOF). This article has researched several important problems on type synthesis method to planar kinematic chain with multiple joints and prismatic pairs which based on the component adjacent matrix of planar kinematic chain and present a new type synthesis method to the planar kinematic chain with multiple joints and prismatic pairs. Firstly, according to the theory that revolute pair and prismatic pair are low pairs and they just have different representation in the component adjacent matrix, the component adjacent matrix method of type structural synthesis to planar kinematic chain with multiple joints and prismatic pairs is presented. In the transforming process from revolute pair into prismatic pair, the handling method of multiple joint transforming into prismatic pair is discussed. Secondly, a new topological invariants — multiple stage-component connecting prismatic joint is developed. The spectrums of degree, stage, multiple joint, multiple stage-components connecting link joint and prismatic pair are defined. These spectrums are presented as the structural characteristics of planar kinematic chain with multiple joints and prismatic pairs. The classification method to planar kinematic chain with multiple joints and prismatic pairs based on structural characteristic is studied. Thirdly, the concept of reconfiguration of component adjacent matrix and repetitious division of bars is developed. The topological invariants of the planar kinematic chain can be calculated and compared by component adjacent matrix. The quantity of calculation can be reduced effectively using the several divisions of