摘要
本文利用机构广义坐标虚位移线性方程的雅可比矩阵求秩的方法,论证了四杆可共线的铰链四杆机构共线位置时运动不确定的特性,还介绍了上述机构在共线位置求全部速度瞬心的方法。
Using the method of jacobi matrix in linear equations of generalised coordinates of virtual displacement to seek the sequence, this paper demonstrated that the movement of the four-bar linkage mechanism is transient at the co-linear position. It also introduced a method to find out all the instantanious centers of the mechanism metioned above at the co-linear position.
