现代机构学的构建与发展的方法论思考

doi:10.3901/JME.2025.05.138

摘要/Abstract

摘要： 一百多年来，相应于机械系统的发展，机构学先后提出了基于杆-副单元建模的、基于Assur杆组单元建模的、基于回路单元建模的，以及基于单开链单元建模的机构学的4种理论体系。近四十年来，以机器人机构发展为背景，又提出了基于螺旋理论的、基于速度空间的、基于位移子群/子流形的，以及基于方位特征集的机构拓扑学的4种系统理论。本文拟在哲学的方法论层次上，揭示机构学4种理论体系与机构拓扑学4种系统理论的深层次的某些规律性，如，理论体系的基本架构(基本问题-基本概念-基本原理-基本公式-设计方法)；机构拓扑学、运动学与动力学研究的基本问题及其内在联系；多体约束系统的模式分析方法及其单元结构的层次性、对称性与有序性等；由非逻辑思维提出的基本问题、基本概念与基本原理是其原始创新之源，而由逻辑推理形成理论体系等；同时，进一步揭示构建不同的理论体系的某些规律性，如，不同理论体系源于由非逻辑思维提出的不同的基本问题、基本概念与基本原理；基本概念、基本公式及其运算规则与设计方法等不同层次之间的内在联系；机构学的内蕴性质；机构拓扑学是机构学成为一门独立学科的主要依据等。方法论的思考有助于促进机构学理论研究的深化和拓宽，以及与后续发展的共鸣。

关键词: 机构学, 拓扑学, 运动学, 动力学, 理论体系, 基本架构, 模式分析, 基本概念, 基本原理

Abstract: In the past 100 years, corresponding to the development of mechanical systems, four mechanism theoretical systems based on link-joint modeling, Assur group modeling, loop modeling, and single-open-chain modeling are proposed. In the past 40 years, with the development of robot mechanism as the background, four mechanism topology theories based on screw theory, velocity space, displacement subgroup/submanifold, and based on position and orientation characteristics set have been proposed. At the methodological level, this research aims to reveal some deep-seated regularities of the four theoretical systems of mechanism and the four system theories of mechanism topology. For example, the basic structure of the theoretical system (including basic problem- basic concept-basic principle-basic formula-design method), the basic problems of mechanism topology, kinematics and dynamics and their internal relations, the mode analysis method of multi-body system and the hierarchy, symmetry and order of unit structures. The basic concepts and principles proposed by non-logical thinking are the source of its original innovation, and the theoretical system is formed by logical reasoning. Meanwhile some laws of constructing different theoretical systems are further revealed. For example, different theoretical systems are derived from different basic concepts and principles proposed by non-logical thinking. The inner relation among different levels such as basic concepts, basic formulas, operation rules and design methods. The intrinsic nature of the mechanism. Mechanism topology is the main basis for mechanism to become an independent subject. Methodological thinking contributes to the further development of academic research so as to arouse the resonance of subsequent development.

Key words: mechanism science, topology, kinematics, dynamics, theoretical system, basic architecture, pattern analysis, basic concepts, basic principle

中图分类号:

TH112

杨廷力, 李菊, 罗玉峰, 沈惠平. 现代机构学的构建与发展的方法论思考[J]. 机械工程学报, 2025, 61(5): 138-152.

YANG Tingli, LI Ju, LUO Yufeng, SHEN Huiping. Methodological Thinking on the Construction and Development of Advanced Mechanism Studies[J]. Journal of Mechanical Engineering, 2025, 61(5): 138-152.

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