ANALYSIS ON DEGREE OF FREEDOM AND SINGULARITY OF MECHANISM BASED ON TOPOLOGICAL GRAPH THEORY

Based on the analysis of current developing state of graph theory, define the description of spacial moving capability of common couples and translation base and rotation base of mechanism, based on the new description method in topological graph theory. DOF (degree of freedom) of hybrid mechanism analysised with example based on the definition of dimensionity of branch spacial moving capability and mechanism spacial moving capability, necessary and sufficient condition of nonsingularity of mechanism presented, as well as the necessary and sufficient condition of singularity of mechanism deduced, in-phase and assimilation condition and in-phase and dissimilarity condition and asynchronism condition of limitation of input base of branch adopted, case number of position singularity and pose singularity and position and pose singularity obtained then, still the way of founding the combination and case number of common serial mechanism and parallel mechanism and hybrid mechanism mentioned.