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1 1 1.1,,.,. (solid mechanics)., (kinematics), (statics), (kinetics). ( d y n a m i c s ).,,. ( m e c h a n i s m ). ( l i n k a g e ) ( 1.1 ), (pin joint) (revolute joint) (prismatic joint) ( 1.2 ) (open or closed chains or loops). (kinematic chain), (1), (2) (structure)., (rigid body).,
2 , (rotation) (translation).,. 2 6 (spatial mechanism) 3. 3, ( ). 2 5, (1 ) (1 ) 4, 4 ( 1.1a ). ( ) (input link: A 0 A). (output link) B B 0. A B (coupler) (floating link). (, path tracer point) 6 ( ) b ( [89] )
3 3 1.1a 1.1b. 4 ( 3 ) , 3 (,, ). (function generator:
4 4 1.2b, 1.4a 1. 5) ( ) ( ) (). (function generation). (path generation : 1.2a, ). (motion generation: 1.2c 1. 6)., x, y
5 a (level luffing crane) ( P) 4. 50, 9m. ( ).. 1.2b c 4..,. x, y, ( ) a ( A P I )., 360 (walking beam). (beam). 1.3 (sucker rod: ). 4 ( 1.3c 1.3d 1 4 ). 4 2 ( 1.3d 5 6) b API
6 ( ) 1. 5 a.
7 7 API 1.4 (3 ).. ( f o l l o w e r ), ( ABT
8 8 1.5 ). (boot cuff).,. ( ) ( ).. (4 ) 1.6
9 ( ) , ( 3), ( 4)
10 10 ( i n v e r s i o n ), (, ) ,.,, b ABP -. ( 1) (coupler curve, 1.1.b ). A A 0, B, P. 3 (absolute motion)*. 1 4P ( ) ( ) 4. 4 P B..
11 , (multi-loop). 90,,.. 1.8a b ,. (kinematic diagram) ( s k e l e t o n d i a g r a m ) (stick diagram).,. ( ) ( :,,,,, ). ( 1 ), , a 1.3d, 1.4a, 1.4b , 5, (1,5,4,6). (bar)
12 12 1.8
13 (2,3) -,.,. ( v a r i a b l e 1.10
14 stroke engine)[126]( 1. 10) (control yoke). (main link),. (variable crank throw). ( a),..,. 0 70, , 9, , 9
15
16 , Watt Stephenson ( a 1.13e ). 3 * (ternary link: 3, 1.1 ). Watt 3, Stephenson 3 2 (binary link: 2 ). 6.
17 a 1.13b 1.13c 1.13d
18 e 1.1[48], (leader tape) ( ) , , 3, 5( 1.14) (deck),. 2, 3, , 3, Stephenson
19
20 20 1.2[128] (biomechanical device). (external prosthesis), ( : femur) ( : t i b u l a) (relative center of rotation, 3 ) Stephenson I a 0 ( ) ( 6) 1( ). 90 ( ) 1. 17, 1.16b
21 [83] ( h o p p e r ) ( c h u t e ) ( ). Watt II. (timing link, 6) 1 ( ). ( P) TAH Industries. ( c a r t r i d g e ), (piston holding plate)., a (receiving block)., (piston plate)., a. 2.
22 ( a c) ,. 1.19c. 1.19d, a e 6. Watt II 6 (double function generator). 4 ( 2) (piston plate, 6). ( 2, 4, 6),
23 ( 1.20b 3), x, y c Watt 6. Watt a c ( 2). Watt 6 ( 1.19d ) a e 6, 6..,
24 24 6 ( 8 ).. 1.7,. ( ) (binary), 3 (ternary), 4 (quaternary),,, (follower),,,, ( ).. 2,., 1.21 (function generator)?
25 25 1.2
26 26. ( m o b i l i t y ).. K 1.22 XY.? A X x A, Y y A. A. K. A B X, XY K. X Y 3 x A, y A (2 1, 3 )., 3. n. 3n.. (lower pair), (bush) (surface contact).? KA x A y A K ,
27 27. f 1 n ( 1 ). F 3(n 1) 2f 1 (1.1) (1.1) Gruebler. (n 1) f a 4 1.., A B 0. AB B 0 B B 0 AB (0 ). G r u e b l e r 1. 1 a. n 4, f 1 4 F 3(4 1) 2(4) Gruebler 1.13a Watt I 6.. n 6, f 1 7 F 3(6 1) 2(7) , 3, 5, Q R, QSR, A 0
28 28. (sliding connection).,. 1.7a ( 4) ( 1). 2 (, ). (1.1) f ( ) ( ). 11, Q ,
29 29 f 1 m 1 (1.2) m 1.. F 3 (12 1) 2(15) 3 3. ( b o o m ) 3., ( ) 1, (2 3).. (rolling contact)., 1 ( 1.2 ). (rolling joint) f 1. (3 )., (roll-slide contact) 1 ( 1. 2 y ).,. 2 (n 3, f 1 2). - - Gruebler. F 3(n 1) 2f 1 1f 2 (1.3) f 2 - (2 ). ( 1. 3 ).
30 30 F 3(2 1) , -. 2 f 2 1, F 3 (3 1) 2 (2) 1 1 (moving pivot) 4. ( c o u p l e r ) (line of action) P,.. F 3 (4 1) 2(4) 1 ( 1.2). ( ). 2 2, 3... F 3 (4 1) 2(3) 3 (belt and pulley) (chain and sprocket)( 1.2 ). Watt II ( ). (1.3), 6. F 3 (6 1) 2(7) 1 f
31 , -,. (1.3) F 3 (7 1) 2 (7) 1 (1) 0 (1) , (fork joint, : pin-in slot joint). 1.25
32 32 F 3(10 1) 2(12) 3. A (2 ), 4. - (DEF) 1. 3., 0 ( ) ( ) , 5. F 3(5 1) 2(6) 0 (over constrained linkage), 3., (nip roller). Gruebler F 3(3 1) 2(3) d. P 4 ( 1 4 ). 4 2 ( 5 6) 6 (1 1.26
33 ) F 3(7 1) 2(9) 0 P,. Gruebler. (passive or redundant degree of freedom) ( ),., (follower arm) 3 (oscillation) Gruebler 1.28
34 34 F 3(4 1) 2(3) 1(1) F 3(3 1) 2(2) 1(1) 1 ( ) F 3(4 1) 2(4) (kinematic analysis) (, ). (kinematic synthesis). ( : d i m e n s i o n a l s y n t h e s i s ) ( : type synthesis) ( )..,,
35 , (2 ) V- (control mechanism). ( 1.30) (sheave) (flyweight) V-.. - ( 1.31 ~ 1.36). V- 1.29
36 ~ ( )., (weighted bell crank), G r u b l e r 1.. (spider) 66, 42, 30 ( 1.31 ). (bell crank) 76, 78, , 74, 80, F 3(4 1) 2(4)
37
38 ( r u b b e r-belt type variable-pitch drive) (continuously variable transmission). (automatic stepless shift mechanism). V- (flyweight),, ,,.,. (cam roller).
39 (driven sheave)., (6 )..,., (dimensional synthesis).
40 ,., 4, 6, (hybrid mechanism) ,.
41 , - ( 1.38) (double slider, 1.3).., -. (axial belt force).., 6 ( 1. 3 ) , 8 10., (limit stop)
42 (hybrid linkage) -.. -,
43 43 -., -,,,, (transmission angle characteristics, 3 ).,.. -.,
44 ( d o w e l p i n ) (revolute joint). -. -
45 ,. - (drive train). [27].. (output parameter). V- ( v a r i a b l e - sheave-clutch V-belt drive) -.,,,,,,., , 5, 1, 5 ( ). -. (5 ).,
46 ( 1.39).
47 47
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