用近似同伦法确定空间7H连杆机构的装配构形

详细信息

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

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．
- 螺旋副 /
- 空间连杆机构 /
- 机器人 /
- 装配构形 /
- 同伦法
Abstract: 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 H-pairs.
- Helical pairs /
- spatial linkages /
- robot /
- configurations /
- homotopy method