空间机构中直纹约束曲面的性质分析

采用微分几何学的活动标架方法研究空间机构中的直纹约束曲面的性质及不变量与不变式，得到了一般直纹面成为定斜，定轴和常参数三类直纹约束曲面的充要条件，为空间机构分析和综合提供了理论依据。

Geometrical properties of some constraint ruled surfaces for spatial mechanisms

Some constraint ruled surfaces of spatial mechanisms are sorted into three typesaccording to their geometrical shapes, such as a constant inclination ruled surface,a constant axisruled surface and a constant parameter ruled surface. Then, the geometrical invariants of abovethree types of ruled surfaces under a group of kinematics are derived and their properties arediscussed respectively by means of the Frenet frame approach of differential geometry. And also,the necessary and sufficient conditions are proved for a general ruled surface to be one of abovethree types of ruled surfaces. It is essential to lay a groundwork of kinematic differentialgeometry of spatial mechanisms.