Linear theory of the structure of mechanisms

Abstract

Structure analysis contains the definition of two structural characteristics, the one being the degree of abnormality in structure, which defines the balance of mobilities and structural bonds along the contour line of kinematic chain, and the other being the degree of irrationality, which defines balance of transverse mobilities and structural bonds; in combination they make structural equations of bonds and can be applied for structure analysis of plain and spatial mechanisms. Linear approach is also used to define the class of contour and whole mechanism because it shows the quantity of dimensions lacking for construction of the contour while binding the structural characteristics with the method of the following kinematic research: class of a contour is defined by the nonnegative value of the degree of its abnormality, while the class of a mechanism – by the algebraic sum of classes of the contours.