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中文摘要：
提出了一种基于单开链单元的空间机构震动力完全平衡的单位向量法,按照序单开链的机构结构分解方法,机构可被分解为一组有序单开链。用在机构各构件上固接相互垂直的三单位向量表示单开链单元的质径积方程,再利用闭环向量方程和相邻构件某些单位向量的关系消去一些线性相关的单位向量,从而导出机构的震动力完全平衡条件。此方法不需进行坐标变换矩阵的运算,导出的平衡条件为标量形式,推导过程简单,文中给出了一个例子。
英文摘要：
Thispaper presents the unit vector method for the full shaking force balancing of spatial machanism based on the SOCs. According to ordered SOCs of mechanism structure decomposition method, mechanism can be decomposed into a set of ordered single Opened chains. Firstly, the three mutually perpendicular unit vectors at links are selected. Secondly, using the unit vectors , the equations of the linkage mass center and the loop equations are derived. Finally, the balancing conditions are given. Using this method the process of deriving the balancing conditions can be simolified and one example is given.
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