Isixazululo esinemininingwane yokuthola uhlobo oluyisisekelo lwendlela yokufaka imishini emine evingelwe ngokusebenzisa i-hinged f

Ukunwebeka ekuhlaziyweni kobudlelwano phakathi kokunyakaza okuhlobene nosayizi ohlobene kanye nesikhundla sezinduku zokuxhuma eqoqweni le-kinematic ye-bar ezine, singaqhubeka nokuhlola izimo ezahlukahlukene ukudonsa ukubonwa okuhlukile. Ngokubheka usayizi ohlobene nesikhundla senduku ngayinye, singanquma izixazululo zezinhlobo ezahlukahlukene zezindlela eziyisisekelo zohlaka olucatshangwe.

Ubudlelwano obukhulu bungahlukaniswa ngamacala amathathu. Esimweni sokuqala, lapho "isikhangiso < bc" and a and b are adjacent bars, we can take the shortest bar (a) as the reference member and analyze its relative motion with the two adjacent bars. Since "a < b" and "c < d", we can conclude that rod a can be straightened and collinear with the two adjacent rods. In other words, a can overlap and be aligned with the neighboring rods.

Ukusungula lesi simo sokugqagqana, ukungalingani okulandelayo kumele kubambe: "D + c> B + A". Lokhu kusho ukuthi "D> C + A", okuhambisana nezimo ezinikeziwe. Ngokwengeziwe, kungafakazelwa ukuthi futhi kungenzeka ukuthi kufakwe ngaphakathi futhi kuhlaselwa ngenduku ephambene (c), usebenzisa izizathu ezifanayo. Ngakho-ke, isigxobo esiphambene (b noma c) sebha emfushane (a) singashintshana kuphela ngezigxobo ezimbili eziseduze ngakunye nge-angle ngaphansi kwe-180 °. Lokhu kusho ukuthi i-angle yokuswayipha ikhawulelwe ngaphansi kwama-180 °, kepha inkulu kune-50 ° (ngokwesimo).

Esigabeni sesibili, lapho u-A no-B bahlukene, indlela efanayo njengoba icala lokuqala lingasetshenziswa ukukhombisa ukuthi ibha emfushane (a) isengashintshatanise imigoqo emibili engezansi. Ngakho-ke, singashiya ingxoxo yalesi simo.

Esimweni sesithathu, sibheka ukunyakaza okuhlobene phakathi kweBar ende (D) nemigoqo emibili eduzane. Ukusuka ezimweni ezaziwayo, singalivimba ukuthi "D> B + AC" ne- "D> e + AB". Lokhu kusho ukuthi induku d ayikwazi ukuqondiswa kanye nokuhlangana nezinduku ezimbili eziseduze. Ngokwengeziwe, uma u-D angaqoqwa futhi ahlangana nezinduku ezingomakhelwane, besingaba ne- "D + c> B + A" C "(ephikisana nemibandela enikeziwe). Ngakho-ke, siphetha ngokuthi i-ROD D ayikwazi ukugqagqana futhi ibe collonear nenduku engomakhelwane. Kulesi simo, zombili ama-engeli wokuswayipha akhawulelwe ngaphansi kwama-180 °.

Ukuhlanganisa iziphetho kusuka kwelinye, okwesibili, nelesithathu, singafingqa ukuthi, ngaphansi kwesimo se- "AD < bc", regardless of the various positions, the shortest bar (a) and the second adjacent bar (b) can rotate relative to each other for a whole circle. However, the opposite pole (b or c) and the two adjacent poles of the shortest bar can only swing relative to each other, with the relative swing angle being less than 180°.

Ngokucacisa ukunyakaza okuhlobene phakathi kwezinduku ezimbili ezinama-hinged kulolu hlobo lwe-kinematic ye-kinematic ezine, singanquma kalula uhlobo lwendlela yokukhetha noma iyiphi induku njengohlaka lwereferensi. Isibonelo, uma induku emfushane (a) nohlangothi oluseduze isetshenziswa njengohlaka, i-crank-rocker mechanism iyatholakala. Ngakolunye uhlangothi, uma uhlangothi olunye uhlangothi lwenduku emfushane lusetshenziswa njengohlaka, kutholakala indlela ephindwe kabili. Kubalulekile ukuqaphela ukuthi i-rocker, ecaleni lokugcina, ayikwazi ukujikisa i-collinear collonear nge-rack noma umugqa wokunwebeka we-rack, futhi i-angle yokujikisa kufanele ibe ngaphansi kwe-180 °.

Ekuphetheni, ngokuhlaziywa kobudlelwano phakathi kokunyakaza okuhlobene, usayizi ohlobene, kanye nesikhundla esihlobene nezinduku zokuxhuma ecaleni le-kinematic ye-hinged ezine, singanquma uhlobo lwendlela kanye nemikhawulo yalo. Ngokuqonda lezi zimiso, onjiniyela kanye nabaqambi bangakhulisa futhi basebenzise izinhlobo ezahlukahlukene zezindlela zohlelo oluthile.