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中文摘要：
提出通过追踪机构位移模态子矩阵行满秩与否来判断机构运动分岔点的新方法——机构位移模态子矩阵法.该方法将铰接杆系机构的自由节点分为驱动节点和从动节点,对应描述机构构型的变量分别为控制变量和状态变量.建立铰接杆系机构平衡矩阵,由奇异值分解得到整体机构位移模态,定义驱动节点对应的机构位移模态矩阵和从动节点对应的机构位移模态矩阵为机构位移模态子矩阵,当机构位移模态子矩阵出现非行满秩现象时,驱动节点或从动节点获得自由度,机构运动发生奇异.通过单自由度和两自由度机构算例分析证明了此方法的正确性与有效性.
英文摘要：
A new approach called submatrix method of mechanism displacement mode was proposed to detect kinematic bifurcations of mechanisms by tracking the transposed matrixes of mechanism displacement mode are row full rank or not.Free joints of pin-bar mechanisms were divided into actuated and passive joints,whose corresponding variables describing configurations of mechanisms were called controlling variables and state variables,respectively.The equilibrium matrix of pin-bar mechanisms was established and the global mechanism displacement mode was obtained by singular value decomposition.The matrix corresponding to the actuated joints and the passive joints were defined as submatrix of mechanism displacement mode.When the above submatrix was not row full rank,the actuated and passive joints obtained degrees of freedom and kinematic bifurcations of mechanisms happened.The validity of the proposed method was illustrated by single degree of freedom（SDOF） and 2DOF mechanisms.
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