基于运动链的机构结构方案的创新方法

结构方案设计是机械系统设计过程中最关键最具有创新的设计，历来受到国内外的重视，也提出了各种各样的结构综合方法。但是还存在着很多不足之处，需要进一步完善发展。通过对单铰运动链的运动副进行替代，获得了该运动链所有可能的型，然后在对常用运动副元素符号化的基础上，提出了获得运动链所有结构型各类的排列组合的数学方法，并且利用运动链的拓扑结构图来判别运动链的同构型，防止遗漏或同构现象的产生。最后给出了工程实际中的具体应用实例。

Innovating Method of Mechanism Configuration Project Based on Kinematic Chain

The structure design is the most crucial and innovative one in the process of mechanism system design, and attention is constantly given to them. Although the various methods of structural synthesis are presented, more study due to faultiness of them are essential. All of available configurations of the single joint kinematic chain are gotten by replacing its pairs. On the basis of symbolization of pairs, the authors put forward the mathematic approach of permutation and combination by which all of configurations of the kinematic chain can be obtained, structure graph is used to judge the type of same fabric of the kinematic chain. Finally their application examples in engineering are given.