基于约束理论的图谱化平面机构自由度分析方法  

Visual graphic approach for analyzing DOF of planar mechanisms based on constraint theory

作　　者：裴旭[1] 侯振兴[1] 赵山杉[2] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]中国运载火箭技术研究院研究发展中心,北京100076

出　　处：《机械设计》2014年第6期34-37,共4页Journal of Machine Design

基　　金：国家自然基金资助项目(51275552);全国优秀博士学位专项资助项目(201234)

摘　　要：基于约束理论的图谱化机构分析方法,通过绘制机构的自由度线和约束线,并根据简单的互补关系,来分析机构的自由度和运动情况。这种方法简单直观,容易理解。图谱化方法适用于分析复杂多支链的空间机构,对于自由度较少的机构(如平面机构),往往会出现约束线数目多,图形混乱,造成绘图和分析上的困难。文中介绍了约束线和自由度线的互补理论,并对图谱化方法进行改进,使其适用于平面机构的分析。这种方法去除了平面机构的公共约束线,简化了线条数目,使得分析更加简单明了。最后通过实例分析说明该方法可分析多支链、多回路的平面机构的自由度和运动特征,证明了图谱化平面机构分析方法的有效性。The visual graphic approach is a simple and intu- itional method to analyze mechanisms＇ freedom and mobility. It only needs to draw some freedom and constraint patterns （includ- ing several types of lines） and then the number of DOF of a mech- anism can be obtained. The method is effective for complex mech- anisms, especially for the complex parallel mechanisms such as hybrid mechanisms. When the number of a mechanism＇s DOF is relatively less, the number of constraint lines will be more. It＇s hard to draw these lines and hard to understand the patterns. In this pa- per, a visual graphic approach for analyzing planar mechanisms is developed. The common constrain lines of the planar mechanism are ignored in this approach. The number of the freedom and con- strain lines are reduced ,making the analysis is much simpler and clearer. At last, an instant involved a complex planar mechanism with multiple closed loops is analyzed by the graphic approach, which can validate the efficiency of the proposed method.

关 键 词：图谱化机构分析 平面机构自由度 约束线 

分 类 号：TH112[机械工程—机械设计及理论]