二自由度基本机构特征状态方程及其应用

提出了二自由度基本机构的特征状态分析方法，并依此建立了二自由度基本机构的数学知识模型。首先定义并归纳了运动功能特征模式，继而针对具体二自由度基本机构输入输出连续运动速度一般方程，提取输入输出运动的特征矢量，并在二元函数级数展开的基础上提取出函数的功能特征值，从而把二自由度基本机构的运动传递单元转化为运动特征变换单元，由此使机构的运动功能分析脱离机构单元本身具体尺度的影响；建立了二自由度基本机构的特征状态方程，进一步讨论了特征矢量、特征状态方程的性质及其运算规则，得到了运动传递特征和性质；研究了数学模型到基础数据的知识转换过程，建立了二自由度基本机构基础知识数据库，为机械系统方案设计提供选型依据。通过实例说明了造型过程及其具体方法。

Characteristic State Equations of 2-DOF Primary Mechanisms and Applications

A new characteristic state analyzing method for 2--DOF basic mechanical units was proposed and the mathematical model was set up correspondingly. Firstly, the input and the output characteristic state vectors were established through the generalized kinematic functions according to the motion transformation process of the specific mechanisms. On the basis of Taylor series expansion technology, the phase step function converted the kinematic transformation units into characteristic transformation units and disengaged the influence of the detailed dimension of the mechanisms. Then the characteristic state equations can be established by motion relationship among the multiple inputs and the outputs, which including characteristic transformation matrices and the characteristic state vectors. Meanwhile, transfer relationships of the characteristic state equations were studied, from which the properties and variations of the functional characteristics were obtained. Thus the 2-DOF basic mechanical units are identified, classified and represented qualitatively from various perspectives. A number of design scheme alternatives can be generated from a specification, which employs the characteristic searches in a library of mechanical devices. At last,the suggested design example are compact and compatible with general design principle.