The paper proposes the elimination by eliminant with aid of basic sets ( eeabs ) , in order to solve the problems in the theories and methods of polynomial system of equations ? limination at present , and to find the multi - solutions of mechanism science ~ research 针对目前多项式方程组的消元理论和方法中存在的问题和不足，本文提出了基组结式消元法，并用以求解机构学研究中的多解问题。
Combining the homogeneous matrix transformation theory of space mechanism and computer graphics , we raise the general principle and motion simulation ' s method of complicated mechanism , which is represented by spacial multipole structure of open chain 通过将空间机构学齐次矩阵变换原理和计算机图形学原理相结合，提出了以空间多杆开式链机构为代表的复杂机械系统运动三维图形仿真的一般原理和方法。
And more , the inverse kinematics model on this cable and cabin system is developed according to the kinematics theory of robot ; since the cable and cabin structure is a parallel mechanism instead of series system , both cable length and speed are required to be controlled 大射电望远镜悬索式馈源支撑系统从理论上说属于并联机构学的研究范畴，国内外关于这种新型机构的研究目前仍然处于探索阶段，尚没有形成系统的理论与方法。
Lunar rover is a mobile robot exploring harsh lunar environment . rover development involves many new technologies , such as artificial intelligence , autocontrol , framework , communication , computer science , etc . the locomotion system is the basic and important subsystem of lunar rover 月球车是用于复杂地形探测的移动机器人,其研制涉及到多个学科领域,是人工智能、自动控制、机构学、信息技术及计算机技术等高新技术的结晶。
In this dissertation , the development survey , research actualities and application prospect of vamt are introduced at first , and the models of kinematics , dynamics and linear motor servo are analyzed then . currently the dynamics model is complex or established mechanically , which restricts the study of control theories . thus this dissertation present a simple and easy - realized control idea , namely , the fore and torque of every leg determined by the inverse - solution of mechanics are regarded as changeable load force ( disturbance ) applied in motor , the elongation of the leg or displacement of sliding is regarded as the output of linear servo system 本文首先介绍了虚拟轴机床的发展概况、研究现状和应用前景，然后对其运动学、动力学、直线伺服系统模型进行分析，针对目前动力学模型过于复杂或完全从机构学角度建立不便于控制的问题，提出了简单、易于实现的控制思想，即将虚拟轴机床的动力学方程反解所确定的各杆受力(矩)视为电机的可变负载力，以杆长伸缩量或滑块位移为伺服系统输出，从此构成位置闭坏，实现轨迹跟踪控制。
Due to its character of microscopic scale motion , a very simple position kinematic equation is achieved . based on the equation obtained , the workspace of the serial - parallel micromanipulator is described , and the effect of different structural parameters on the workspace is also discussed . in order to evaluate the output errors caused by the structural errors and actuator errors , accuracy analysis is then conducted for this serial - parallel micromanipulator , and an approach based on software programming is presented for error compensation 由于所研究的微操作机器人运动范围很微小，机构结构误差及驱动误差都可能造成机器人的操作精度严重降低，为评价这些机构误差对运动精度的影响，本论文以矢量法对该机器人机构进行了误差分析，并讨论了误差补偿的软件法；此外，论文还进一步研究了遗传算法在并联机器人机构学研究中的应用，为并联机器人位置正解问题求解提出一种新思路。
Abstract : this paper successfully with a logical method have stu died a series of fundamental problems on the mechanism . and ( 1 ) presented a new viewpoint on mechanism s class order : original - function s mechanism and conpositive - function s mechanism . ( 2 ) exposed and showed that the re are two kinds of the constructive logic in all mechanism : function - compoundin g and function - creating . ( 3 ) reasoned out that the originalifunction s mechani sm is the basic mechanism 文摘:在成功地用逻辑理性方法对机构学一系列基本问题进行研究的基础上， ( 1 )提出了“原始功能机构”和“组合功能机构”的机构层次看法； ( 2 )揭示了机构中存在有两种不同的“构造逻辑” ： “功能合成”和“功能组建” ； ( 3 )论证了“原始功能机构”才是“基本机构” 。
Based on the analysis of the advance treads in the field of mechanics and the practical requirement , a new planar cam design theory model was proposed . and then using the new model , the planar cam design and simulation system were developed . it provided a more general and simple method for cam designs , and could ensure the follower follow the special movement rule or the special track 针对机构学领域发展趋势和当前实际需求，建立了新的平面凸轮设计理论模型，并在此基础上研制了平面凸轮设计及运动仿真系统，为凸轮设计提供了更通用、简便的方法，确保从动件实现特定运动规律或特定轨迹。
Virtual axis machine tool ( vamt ) is characterized by the simple structure , high rigidity , large load handling capacity , and non - accumulation of position error . as the supplement of series machine tool ( smt ) , vamt has become the focus of research in machine tool , and plentiful research achievements have been acquired in mechanics , kinematics , dynamics , but few in kinematic control 虚拟轴机床具有结构简单、刚度大、承载能力强、位置误差不积累等特点，在应用上与串联机床成互补关系，现已成为机床领域的研究热点，并在机构学、运动学和动力学研究上取得了大量成果，而对运动控制的研究非常少。
