全铰链平面连杆机构运动综合的结构类型优选方法.pdf

第 45 卷第 3 期 机 械 工 程 学 报 Vol.45 No.3 2009 年 3 月 JOURNAL OF MECHANICAL ENGINEERING Mar. 2009 DOI ：10.3901/JME.2009.03.132 全铰链平面连杆机构运动综合的 结构类型优选方法 宋 黎 范崇辉 (湘潭大学机械工程学院 湘潭 411105) 摘要：提出全铰链平面连杆机构运动综合的结构类型优选的基本方法。建立全铰链平面连杆机构运动方程计算机自动生成的 规格化方法。根据含复铰平面运动链的构件邻接矩阵，获得其广度优先生成树，进而确定基本回路，由此利用计算机自动生 成机构的位置、角速度和角加速度方程，从而在计算机构学的意义上将运动链的拓扑结构关系与机构运动分析联系了起来。 在此基础上提出计算机自动生成邻接构件之间的三角形约束条件的规格化方法，并给出结构类型优选的基本思想和基本算法。 关键词：全铰链平面连杆机构 运动综合 结构类型优选 邻接矩阵 基本回路 中图分类号：TH112.1 Method of Structural Type Optimization for Kinematic Synthesis of Planar Linkage with All Joint SONG Li FAN Chonghui (School of Mechanical Engineering, Xiangtan University, Xiangtan 411105) Abstract ：The basic method of structural type optimization for kinematic synthesis of planar linkage with all joint is presented. A programming method is established for automatically forming kinematic equations of planar linkage with all joint by computer. According to the adjacent matrix of kinematic chain, the breadth-first-search spanning tree can be obtained. Further, the basic loops can be determined. And the linkage’s kinematic equations of position angle, angular velocity and angular acceleration can be formed by using computer. So, by using numerical mechanism, the kinematic analysis of planar linkage gets in touch with the topological structure relation of kinematic chain. On the basis of this method, the programming method of automatically forming triangle restriction between bars by using computer is given, and the basic idea and algorithm of planar linkage’s structural type optimization are pr