Svinar'ov Y. Formalization of Structural-Kinematic analysis algorithms of spatial mechanisms.

The thesis is devoted to questions of formalization of kinematic calculating algorithms of spatial mechanisms and creation of operator functions of their realization. The structure of operator functions and the set of the programs for realization of kinematic calculations algorithms allowing to solve the problem of kinematics of mechanisms, both optimal structure, and having the redundant link is developed. The modified formalized system of matrix description of kinematic chains of mechanisms is offered. The system of identification of kinematic pairs and kinematic chains of mechanisms is entered, on the foundation of which the system of common classification of spatial structural groups is developed. The examples of application of operator functions in kinematic calculations of spatial mechanisms are considered.