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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2007, Vol. 8 Issue (7): 1091-1100    DOI: 10.1631/jzus.2007.A1091
Mechanics & Civil Engineering     
Mobility and equilibrium stability analysis of pin-jointed mechanisms with equilibrium matrix SVD
LU Jin-yu, LUO Yao-zhi, LI Na
Department of Civil Engineering, Zhejiang University, Hangzhou 310027, China
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Abstract  Under certain load pattern, the geometrically indeterminate pin-jointed mechanisms will present certain shapes to keep static equalization. This paper proposes a matrix-based method to determine the mobility and equilibrium stability of mechanisms according to the effects of the external loads. The first and second variations of the potential energy function of mechanisms under conservative force field are analyzed. Based on the singular value decomposition (SVD) method, a new criterion for the mobility and equilibrium stability of mechanisms can be concluded by analyzing the equilibrium matrix. The mobility and stability of mechanisms can be classified by unified matrix formulae. A number of examples are given to demonstrate the proposed criterion. In the end, criteria are summarized in a table.

Key words： Pin-jointed mechanisms      Criteria for stability of equilibrium      Criteria for mobility      Potential energy function      Equilibrium matrix      Singular value decomposition (SVD) method     
Received: 20 October 2006     
CLC:  TU31  
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LU Jin-yu
LUO Yao-zhi
LI Na
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LU Jin-yu, LUO Yao-zhi, LI Na. Mobility and equilibrium stability analysis of pin-jointed mechanisms with equilibrium matrix SVD. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2007, 8(7): 1091-1100.

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http://www.zjujournals.com/xueshu/zjus-a/10.1631/jzus.2007.A1091     OR     http://www.zjujournals.com/xueshu/zjus-a/Y2007/V8/I7/1091

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