| 刘言松, 曹巨江, 梁金生, 张艳华, 闫茹.曲柄群机构自由度计算的旋量法[J].轻工机械,2018,36(6):33-35 |
| 曲柄群机构自由度计算的旋量法 |
| Computing Method of DOF of Crank Group Mechanism Based on Screw Theory |
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| DOI：10.3969/j.issn.1005 2895.2018.06.007 |
| 中文关键词: 曲柄群机构 自由度 旋量 连杆桁架 |
| 英文关键词:crank group mechanism DOF (degree of freedom) screw theory connecting truss |
| 基金项目:国家自然科学基金资助项目(51175313）；陕西省教育厅专项科研计划项目（17JK0099） |
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| 中文摘要: |
| 由于曲柄群机构的曲柄个数和任意2个曲柄间连杆个数的不确定性，传统方法计算该机构的自由度会遇到虚约束判断等问题。课题组在分析了曲柄群机构基本单元运动特性的基础上，定义了连杆桁架；基于连杆桁架的概念，总结了不同拓扑结构形式的曲柄群机构在结构上的统一性；利用旋量理论计算了含任意多个曲柄的曲柄群机构的公共约束数及冗余约束数，并计算得出含任意多个曲柄的曲柄群机构自由度。计算结果表明，利用旋量理论和连杆桁架概念简化了曲柄群机构的构件数，避开了繁琐的计算。研究实现了对含任意多个曲柄的曲柄群机构自由度计算的统一。 |
| 英文摘要: |
| Because of the uncertainty of the numbers of cranks and the numbers of connecting rods between cranks in crank group mechanism, there must be some problems such as virtual constraint determination with traditional method to calculate DOF of the mechanism. The connecting truss was defined by analyzing the kinematics of the basic unit of multi parallelogram mechanism, and summarized the unity in the structure multi parallelogram mechanism with different topological structure. The calculation method was given for the number of the public constraints, that of the redundant constraints, and the DOF of multi parallelogram mechanism with any number of crank by screw theory. The results show that the method simplifies the numbers of the mechanism members, avoids the tedious calculations and achieves the unified description of DOF of crank group mechanism with multiple crank based on the connecting truss and the screw theory. |
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