KINEMATIC ANALYSIS OF PLANE LINKAGES WITH MATRIX METHOD

This paper deals with the advantages of using matrix method and the course of derivation of its formulae.In accordance with the geometric relationship in kinematic diagrams,the constraint equations for the mechanism in matrix form is writter;solving this group of equations,the formulae for calculating the coordinates of the centers of the hinges may be obtained.The matrix equations about velocities and accelerations may be got from taking the derivative of the constraint equations to time.The solutions of these two groups of equations are the formulae for the velocities and accelerations of the centers of the moving hinges.