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.. 1960,. 1.2. 2. (rotation) (translation).,. 2 6 (spatial mechanism) 3. 3, ( 2 6.1 ). 2 5, (1 ). 1.3. 3 (1 ) 4, 4 ( 1.1a ). ( ) (input link: A 0 A). (output link) B B 0. A B (coupler) (floating link). (, path tracer point) 6 ( ). 1. 1 b ( [89] )
3 1.1a 1.1b. 4 ( 3 ). 4. 1. 2 1. 6 4., 3 (,, ). (function generator:
4 1.2b, 1.4a 1. 5) ( ) ( ) (). (function generation). (path generation : 1.2a, 1.3 4 ). (motion generation: 1.2c 1. 6)., x, y. 2 8 1.2
5. 1.2 4. 1. 2 a (level luffing crane) ( P) 4. 50, 9m. ( ).. 1.2b... 1.2c 4..,. x, y,.. 1.3 4. 1. 4 ( ). 4. 1.4a ( A P I )., 360 (walking beam). (beam). 1.3 (sucker rod: ). 4 ( 1.3c 1.3d 1 4 ). 4 2 ( 1.3d 5 6). 360.. 1. 4 b API. 1. 5.
6 1.3 4. ( ) 1. 5 a.
7 API 1.4 (3 ).. ( f o l l o w e r ),. 1.6 4 ( ABT
8 1.5 ). (boot cuff).,. ( ) ( ).. (4 ) 1.6
9... 4. 1.7 - ( ) 4.. 4-4 4 4. -. 2, ( 3), ( 4). 4. - 1.7
10 ( i n v e r s i o n ), (, ). 3.1 -. 1.4.,.,,.... 1. 1.7b ABP -. ( 1) (coupler curve, 1.1.b ). A A 0, B, P. 3 (absolute motion)*. 1 4P. 4 3. 1 4( ) ( ) 4. 4 P B..
11 1.5 4 -,. 4. 1.8 (multi-loop). 90,,.. 1.8a b 90 30. 1.8,. (kinematic diagram) ( s k e l e t o n d i a g r a m ). 1. 9 (stick diagram).,. ( ) ( :,,,,, ). ( 1 ),.. 1.1..,. 1.3 1.4. 1.3a 1.3d, 1.4a, 1.4b. 1.9. 6, 5, 1 1. - (1,5,4,6). (bar)
12 1.8
13 1.9 (2,3) -,.,. ( v a r i a b l e 1.10
14 1.1 stroke engine)[126]( 1. 10).. 1. 11. (control yoke). (main link),. (variable crank throw). ( 1. 11 a),..,. 0 70, 1 4. 25.. 1.12, 9, 9 2. 8, 9
15 1.11
16 1.12. 1.6 4 6. 6 7 1, Watt Stephenson (1.7 1.13a 1.13e ). 3 * (ternary link: 3, 1.1 ). Watt 3, Stephenson 3 2 (binary link: 2 ). 6.
17 1.13a 1.13b 1.13c 1.13d
18 1.13e 1.1[48], (leader tape) ( ).. 1.14..,. 1 5. 2, 3, 5( 1.14) (deck),. 2, 3, 5.. 1. 360. 2. 2, 3, 5. 3.. 4. Stephenson. 2 3 1.15.
19 1.14 1.15
20 1.2[128] (biomechanical device). (external prosthesis), ( : femur) ( : t i b u l a) (relative center of rotation, 3 ). 1.16 1.17 Stephenson I 6. 1.16a 0 ( ) ( 6) 1( ). 90 ( ) 1. 17, 1.16b. 1.16 1.17
21 1.18 1.3[83] ( h o p p e r ) ( c h u t e ) ( 1.18. ). Watt II. (timing link, 6) 1 ( ). ( P). 1.4 1.19 1.20. TAH Industries. ( c a r t r i d g e ), (piston holding plate)., 1. 19 a (receiving block)., (piston plate)., 1. 19 a. 2.
22 1.19 ( 1. 19 a 1. 19 c). 1. 20. 6,. 1.19c. 1.19d, 1. 13 a 1. 13 e 6. Watt II 6 (double function generator). 4 ( 2) (piston plate, 6). ( 2, 4, 6),
23 1.20. ( 1.20b 3), x, y. 3 6... 1. 20 c Watt 6. Watt. 1. 19 a 1. 19 c ( 2). Watt 6 ( 1.19d ). 1. 13 a 1. 13 e 6, 6..,
24 6 ( 8 ).. 1.7,. ( ).. 1. 1 1. 2 2 (binary), 3 (ternary), 4 (quaternary),,, (follower),,,, (3.. 3 2 6 ).. 2,., 1.21 (function generator)? 1. 21. 1.21
25 1.2
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).? 1. 22 KA x A y A K. 1. 21, 2 1.22
27. f 1 n ( 1 ). F 3(n 1) 2f 1 (1.1) (1.1) Gruebler. (n 1). 1. 1 f 1.. 76 8. 1 1. 1. 1.1a 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) 1 1 1. Gruebler 1.13a Watt I 6.. n 6, f 1 7 F 3(6 1) 2(7) 1 1. 1 4 1 4. 4, 3, 5, 6 3 4 2 4. Q R, QSR,. 1.23. A 0
28. (sliding connection).,. 1.7a ( 4) ( 1). 2 (, ). (1.1) f 1. 1. 12 ( ) 1 2 3 ( ). 11, Q. 3. 9 10, 10 11 2.. 1.23
29 f 1 m 1 (1.2) m 1.. F 3 (12 1) 2(15) 3 3. ( b o o m ) 3., 2. 5 1.2. ( ) 1, (2 3).. (rolling contact)., 1 ( 1.2 ). (rolling joint) f 1. (3 ).,. 1. - (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 F 3(2 1) 1 2 1.2 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 1 1.5 1.24.
31 1.24 7 7, -,. (1.3) F 3 (7 1) 2 (7) 1 (1) 0 (1) 3 1.25. 2 2, (fork joint, : pin-in slot joint). 1.25
32 F 3(10 1) 2(12) 3. A (2 ), 4. - (DEF) 1. 3., 0 ( ) ( ).. 1. 26, 5. F 3(5 1) 2(6) 0 (over constrained linkage), 3.,. 1.27. (nip roller). Gruebler F 3(3 1) 2(3) 0.. 1.3d. P 4 ( 1 4 ). 4 2 ( 5 6) 6 (1 1.26
33 1.27 ). 6 7.. F 3(7 1) 2(9) 0 P,. Gruebler. (passive or redundant degree of freedom) ( 2 6.1 ),., 1. 28. 4 (follower arm) 3 (oscillation). 4 3 3. - Gruebler 1.28
34 F 3(4 1) 2(3) 1(1) 2 4 3 F 3(3 1) 2(2) 1(1) 1 ( ) F 3(4 1) 2(4) 1 1.4 1.5. 1.8. (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) ( 2 8 2 3 )..,,.. 2. 2. 2.
35 1.9 1.., (2 ). 1. 29 V- (control mechanism). ( 1.30) (sheave) (flyweight) V-.. - ( 1.31 ~ 1.36). V- 1.29
36. 1.31 ~1.36. 1.31( ).,. 84 76 84 (weighted bell crank), 82 78.. G r u b l e r 1.. (spider) 66, 42, 30 ( 1.31 ). (bell crank) 76, 78, 48. 70, 74, 80, 58 32. F 3(4 1) 2(4) 1.. 1.30
37 1.31
38 1.32 ( r u b b e r-belt type variable-pitch drive) (continuously variable transmission). (automatic stepless shift mechanism). V- (flyweight),,. 1.37. 1.30.,,.,. (cam roller).
39 1.33. (driven sheave)., (6 )..,., (dimensional synthesis).
40 1.34.,., 4, 6, (hybrid mechanism). 1.3...,.
41 1.35. 4, - ( 1.38) (double slider, 1.3).., -. (axial belt force).., 6 ( 1. 3 ).. 6 7. 2 3., 8 10., (limit stop)
42 1.36 (hybrid linkage) -.. -,. 1.37..
43 -., -,,,,. - 1. -. -. - (transmission angle characteristics, 3 ).,.. -., - 1. 37
44 1.3. ( d o w e l p i n ) (revolute joint). -. -
45 1.38,. - (drive train). [27].. (output parameter). V- ( v a r i a b l e - sheave-clutch V-belt drive) -.,,,,,,., 1.38 1, 5, 1, 5 (5.3 5.4 ). -. (5 ).,
46 1.39.. ( 1.39).
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