机构结构新旧自由度计算公式对比之理论研究  

Comparable Study on New and Old Formulas for Calculating DOFs of Mechanisms and Structures

作　　者：欧阳富[1] 蔡汉忠[1] 廖明军[1] 

机构地区：[1]北华大学,吉林132013

出　　处：《中国机械工程》2010年第24期2942-2948,共7页China Mechanical Engineering

摘　　要：经过对国内外常用的4个重要自由度计算公式的构成因子的研究,通过三万多个例题验证计算与分析比较:发现新公式和库兹巴赫.格鲁巴(kutzbach qrubler)公式是正确的,这两公式能计算所有平面、空间机构结构的自由度。其他任何公式都是不完善的计算公式,通过研究还发现:并联空间机构中的冗余自由度、过约束就是新公式中多余自由度λ,新公式还涉及多余机座、自转双自由度、多余自由度双重含义以及球面缩度的新概念。研究结果为人们利用这些新概念和新公式去创造新机器提供可靠的理论依据。By the study of the factors in main four DOF formulas,checking calculation of about 30,000 examples,analysis and comparisons for years,a new formula was proved to be correct,as well as Kutzbach Qrubler Formula.These two formulas work for all the DOF calculation in plain and space mechanisms,and reveal the basic law of kinetic mechanisms and structures,while others are not refined.It is found that for redundant DOF in parallel manipulator,over constraint is surplus DOF,λ,in the new formula.The new formula also involves double meanings of surplus frame,auto-rotating double DOF and surplus DOF and the new concept of sphere contraction,which set a theoretical basis for correctly calculating DOF to make new machines.

关 键 词：封闭环约束数(阶数) 机架 多余自由度(消极自由度) 封闭环 

分 类 号：TH112[机械工程—机械设计及理论]