基于结构特征的含复铰和高副的平面运动链分类

提出了基于结构特征的含复铰和高副平面运动链的分类方法。定义了度谱、阶谱、复铰谱、多阶杆连接铰链谱和高副谱作为含复铰和高副平面运动链的结构特征。通过结构类型综合获得运动链的构件邻接矩阵后，就可以计算这些结构特征。据此得到了从八杆以下平面连杆运动链生成的全部独立的含复铰和高副平面运动链共174类396种。

Classification to Planar Kinematic Chains with Multiple Joints and Higher Pairs Based on Structural Characteristics

This paper presented a classification method to planar kinematic chains with multiple joints and higher pairs based on structural characteristics. The spectrums of degree, stage, multiple joint, multiple stage-component connecting joint and higher pair were defined. These spectrums were taken for the meticulous structural characteristics of the kinematic chain. These spectrums can be calculated according to the component adjacency matrix that can be obtained from structure type synthesis. It has been obtained for classifying results in which 174 categories and 396 kinds of kine matic chain with multiple joints and higher pairs that are produced by planar link kinematic chains less than 8 components.