球面六连杆机构可动性自动识别方法
Automatic Mobility Identification Method for Spherical Six-Bar Linkages

针对球面六杆机构的可动性中的分支（装配方式或回路）问题，提出了一种基于机构关节旋转空间的概念和判别式方法来分析球面六连杆机构分支的形成，并提出了球面六连杆机构运动连续性矫正的分支自动识别算法.利用判别式方法和关节旋转空间（JRS）的概念，球面六杆机构的分支很容易识别.该方法是普遍及概念上直观的方法，并通过实例解释了该方法的应用.
Branch (assembly mode or circuit) identification is a way to assure motion continuity among discrete linkage positions,which is the most fundamental issue among the mobility problems that may also include sub-branch (singularity-free) identification,range of motion,and order of motion.Branch analysis becomes more complex in spherical or spatial linkages.In this paper,an automated branch identification method was proposed based on discriminants of kinematic equations and the concept of joint rotation space (JRS) to analyze the branch formation of a spherical six-bar linkage.And an automated identification algorithm was presented to rectify the motion of a spherical six-bar linkage.The proposed method is general and conceptually straightforward.It can be applied for all linkage inversions.Examples were employed to illustrate the application of the proposed method