含复铰平面运动链型综合中消极子链的识别方法

提出了在运动链中识别消极子链的生成树—基本回路法。通过能够反映复铰和多副杆等结构特点的构件邻接矩阵，得到运动链的广度优先生成树。由生成树的弦将运动链分解成为数目确定的基本回路。利用基本回路或基本回路的并所形成子链的活动度识别消极子链。研究表明，该方法适用于无复铰和含复铰平面运动链，并且具有运动链分解形式选择唯一、简单、可靠及便于用计算机处理等特点。

Distinguishing method for negative sub-chain in model synthesis of planar kinematical chain with multiple joints

The spanning tree and basic loop method for distinguishing negative sub-chain in kinematics chain was put ford. The breath-first spanning tree of kinematics chain was obtained by means of adjacent component matrix which can express structural characters of multiple joint and multiple pair of rod etc.. Let the kinematics chain be resolved from the cord of spanning tree into definite numbered basic loops. Using mobility of basic loop or sub-chains formed from the union of basic loop to distinguish negative sub-chain. It is indicated by test that this method is suitable for planar kinematics chains with or without multiple joints, and possessing characteristics of simple, reliable, and an only selection on resolving form of kinematics chain, and of convenient processing by computers.