| 1. | The circuit of the first group spatial linkages is studied
对空间第一组机构回路问题进行了研究。 |
| 2. | The derivative operator matrix method for determining kinematic errors of spatial linkages
确定空间连杆机构运动误差的微分算子矩阵法 |
| 3. | By studying the math model of multibody dynamics and its methods of realization , this task seeks to obtain the solutions by emulation methods on the 3d spatial linkage mechanisms
研究计算多体运动学的数学建模和实现方法，求得对空间机构(主要是空间连杆机构)的求解与仿真方法。 |
| 4. | Some theoretical problems on kinematic analysis of spatial linkage and circuit identification of linkages , the method of parameterized solid motion simulation of linkages are studied systematically and deeply in this dissertation
本文对连杆机构的回路识别问题、空间多环机构运动分析理论以及连杆机构的参数化实体运动仿真问题进行了深入系统的研究。 |
| 5. | On the basis of computer emulation and the study of pneumatic splicing , as well as the math model of 3d spatial linkage mechanisms , this study can help to develop new types of pneumatic splicers in close co - operation with the machinery manufacturers
在对空气捻接器的捻接机理及其空间机构运动的数学建模和计算机仿真基础上，与工厂合作研制新型空气捻接器。 |
| 6. | The kinematic algorithm of the basic unit is given based on the position analysis method of single - loop spatial linkages and he kinematic influence coefficient method . a computer program for automatic analysis of spatial mechanisms is developed
结合单环空间机构的位置分析方法及速度、加速度分析的影响系数法，给出了刚转化单元的运动分析方法:最后编制程序，实现了多月生} ， bj机构运动分扔的自动化。 |
| 7. | The results are believed the first attempt that resolves the circuit identification problem of the spatial linkages with four closures . the theory of type transformation of planar linkages has been extended to the kinamatic analysis of spatial linkages . the structural decomposing criterion and its automatic generation algorithm for multi - loop spatial linkages are discussed
将平面连杆机构运动分析的型转化和广义型转化理论拓展到空间连杆机构的运动分析，得出了型转化法全间连杆机构的结构分解准则及其自动生成算法:给出了以型转化单元为结构单元的空间机构单元划分方法。 |
| 8. | This method is also valid for identifying the circuit and branch defect of first group spatial linkages based on the equivalent of circuit properties of the first group spatial linkages and its equivalent sphere four - bar linkage base on the property of the solutions of quartic equation , the conclusion that the number and order of branch between two adjacent stationary positions of the input link are derived . then , the new method to identify circuits of spatial single - loop linkages with four closures is presented . all types of the manner on which the branches coalesce at the stationary positions of the input link are obtained and the procedures to determine the type automatically are developed
基于一元四次方程解的性质，得到了在输入构件两个相邻瞬时静止位置之间机构的分支的数目和大小顺序不变的结论，进而提出了识别具有四个封闭形的空间单环机构回路的新方法一一死点法，综合出了输入构件位于瞬时静止位置时机构分支结合情况的所有类型及其自动判别方法，研究了由所有结合的分支信息自动生成回路的算法，首次解决了此类机构回路与回路缺陷的自动识别。 |
