包括2个新并联机构和一些反常机构的自由度分析  

Mobility analyses of several mechanisms including two novel parallel mechanisms and some “paradoxical” linkages

作　　者：刘婧芳[1] 朱思俊[1] 曾达幸[1] 黄真[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《燕山大学学报》2006年第6期487-494,共8页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(No.50275129)

摘　　要：自由度问题是一个已经持续了150年的热点问题。本文目的在于说明如何用简单方便的公式计算那些高度复杂机构的自由度。本文集中分析了一些公认的比较难的现代并联机构和古典“反常”机构。运用以前所知的公式并不能解出这些机构的自由度。The mobility problem is a hot point lasting about 150 year. The objective of this paper is to demonstrate how to use the simple and uniform formula for quickly analyzing the mobilities of those highly complicated mechanisms. The paper focuses on the mobility analyses of the recognized difficult modern parallel manipulators and classical ＂paradoxical mechanisms＂. They are never solved directly by using known formulas before.

关 键 词：自由度 反常机构 并联机构 

分 类 号：O175[理学—数学]