Analysis on Global Kinematics Characteristics of Mechanisms

10.6567/IFToMM.14TH.WC.OS8.007

Deng-Feng Zhao；Guo-Ying Zeng；Yu-Bin Lu

linkage ； singularity ； solution space ； global characteristics

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

218 - 226

英文

Based on the singularity, group theory and geometric topology, the analysis method of global kinematics characteristics of mechanisms was studied by using the singularity division of parameter space of mechanisms. First, the basic contents of global kinematics characteristics were put forward. Second, analytical methods were introduced, which include obtaining the division conditions of parameter space, analyzing the symmetry of constraint equations and studying the division method of parameter space. Finally, four general problems about global kinematics characteristics were discussed and the results of 4, 5 and 6-link planar mechanisms were given. Results show that all global kinematics characteristics are included in the division results and various global analysis problems can be translated into multifarious retrievals of condition-value of vertexes. Thus, this method is appropriate for analyzing complicated mechanisms by computers.