含复铰和环路的6杆Assur杆组型综合
Six Links Assur Group Model Synthesis with Multiple Joint and Loop

为综合得到含复铰的6杆Assur杆组构型综合，提出了一种含复铰杆组特征值的构型方法。分析此杆组特征值，得到了杆组中构件数、复铰数、环路数以及外接运动副之间的关系，在上述分析基础上运用C语言编程得到含复铰6杆Assur组的数综合。进一步的给出了含复铰杆组拓扑图的绘图原则和方法。结合含复铰杆组特征值和拓扑图绘制规则、方法，可快速、准确地进行含复铰6杆Assur杆组构型综合分析。列表给出了含复铰的6杆Assur杆组的型综合，丰富了含复铰杆组的构型综合。同时为实现计算机的自动绘制奠定了基础。
In order to obtain six links Assur group model synthesis with multiple joints, a configuration method depend on Assur group eigenvalue with multiple is come up. Analyzing for Assur group eigenvalue, the relationship among components,multiple joints,loops and external kinematic pairs are obtained. On the basis of the above analysis, sxi links Assur group with multiple number synthesis is obtained with C language programming. Furthermore, the drawing principle and method about Assur group topology figure with multiple are given. Combining the Assur group eigenvalue with these principles about topology with multiple, a model synthesis for six group with multiple can be quickly and accurately carried out. The type synthesis about six links Assur group with multiple joints are listed. It is abundant with model synthesis about Assur group with multiple joints and laid a solid foundation to achieve the automatic drawing of the computer