• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2005, Vol. 41 ›› Issue (8): 30-35.

• 论文 • 上一篇    下一篇

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一空间变胞机构的拓扑结构变换和对应的矩阵演算

戴建生;丁希仑;王德伦   

  1. 伦敦大学国王学院机械工程系;北京航空航天大学机器人研究所;大连理工大学机械工程学院
  • 发布日期:2005-08-15

TOPOLOGICAL CHANGES AND THE CORRESPONDING METRIX OPERATIONS OF A SPATIAL METAMORPHIC MECHANISM

Dai Jiansheng;Ding Xilun;Wang Delun   

  1. Department of Mechanical Engineering School of Physical Sciences and Engineering, King’s College London, University of London School of Mechanical Engineering, Beihang University School of Mechanical Engineering, Dalian University of Technology
  • Published:2005-08-15

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摘要： 拓扑结构变化是变胞机构的一个特征。概括了矩阵演算在拓扑结构变化中的应用，揭示了E单位变换矩阵和U单位消元矩阵与机构拓扑变化的关系，从而演示了对应于拓扑变化的矩阵演算。重点分析了一空间变胞机构。应用矩阵演算去描述该机构的多种结构变化，从而预测此机构的新构态，并展示了各拓扑构态衍生的新机构。这一分析揭示了两种拓扑变化类型的矩阵演算规律。

关键词: 变胞机构, 分析, 结构变化, 矩阵演算, 拓扑

Abstract: Topological change is an essential characteristic of metamorphic mechanisms. Matrix operations in describing the mechanism topological changes, reveals the use of the U-elementary matrix and the newly discovered E-elementary matrix in the two types of the topological changes, hence demonstrates the consistency between a matrix operation and a mechanism topological change. Then a spatial metamorphic mechanism in demonstrating the matrix operation in accordance with the topological changes and in identifying the mechanism new structure is enlisted. This further reveals the characteristics of the matrix operations in the two steps of the topological changes and exhibits the new mechanism structure which is extended from each configuration of the topological changes.

Key words: Characteristics, Matrix operation, Metamorphic mechanism, Spatial, Topological changes

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