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本文比较深入地探讨了机构分析与综合中应用广泛的刚体位移矩阵。从刚体运动分解的基本概念出发．阐明了它的由来，明确指出该矩阵中所有元素之值与刚体位移的确定关系，与所取刚体上参考点的位置无关；证明了其末列列向量恒等于刚体上初始位置与坐标原点重合之点的位移向量。据此．进一步阐明了刚体位移矩阵与螺旋矩阵的同一性及其与坐标变换矩阵的关系。文末有一数字实例说明应用刚体位移矩阵计算刚体空间位移的螺旋运动参数。
In this paper, the widely used rigid body displacement matrix in mechanism analysis and synthesis is discussed in more depth. Starting from the basic concept of rigid body motion decomposition. Its origin is clarified, and the definite relationship between the value of all the elements in the matrix and rigid body displacement is determined, which is independent of the position of reference point on rigid body. It is proved that the end column vector is equal to the initial position of rigid body coinciding with the origin The displacement vector of points. Accordingly. Further clarify the rigid body displacement matrix and the spiral matrix and its relationship with the coordinate transformation matrix. At the end of this article, a numerical example is given to illustrate the helical motion parameters of rigid body space displacement by using the rigid body displacement matrix.