Kinematic Synthesis of Three-Dimensional Mechanisms

经典机构理论首先关注平面(2-D)机构的分析和综合，最近又关注空间(3-D)机构的分析和综合。本研究项目旨在将三维分析和综合方法扩展到高阶关节(可以被视为简单关节的组合)，并将该方法嵌入到CAD系统中，机械设计人员无需接受机构综合方面的高级培训即可使用这些方法。研究的重点是获得运动方程的精确闭合解析解(而不是计算的近似解)，以及维度综合而不是形式综合。(尺寸合成为指定的关节和连接集合寻找可行的位置和长度；形式合成处理关节和连接的替代集合)。

Classical mechanism theory focused first on the analysis and synthesis of planar (2-D) mechanisms, and more recently on the analysis and synthesis of spatial (3-D) mechanisms. This research project seeks to extend 3-D analysis and synthesis methods to higher-order joints (which may be viewed as combinations of simple joints), and to embed the methods in CAD systems useable by mechanical designers without advanced training in mechanism synthesis. The research is focused on obtaining exact closed-form analytical solutions for the equations of motion (rather than computed approximate solutions), and on dimensional rather than form synthesis. (Dimensional synthesis seeks viable positions and lengths for a prescribed collection of joints and links; form synthesis treats alternative collections of joints and links).