• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2015, Vol. 51 ›› Issue (13): 69-80.doi: 10.3901/JME.2015.13.069

• 机构学及机器人学研究进展——纪念张启先院士诞辰九十周年专辑 • 上一篇    下一篇

机构自由度公式的基本形式、自由度分析及其物理内涵

杨廷力1, 沈惠平1, 刘安心2, 戴建生3   

  1. 1.常州大学现代机构研究中心;
    2.中国人民解放军解放军理工大学;
    3.伦敦大学国王学院
  • 出版日期:2015-07-05 发布日期:2015-07-05
  • 基金资助:
    国家自然科学基金资助项目(51175366,51375062,51365036, 51475050)

Review of the Formulas for Degrees of Freedom in the Past Ten Years

YANG Tingli1, SHEN Huiping1, LIU Anxin2, DAI Jiansheng3   

  1. 1.Research Center for Advanced Mechanism Theory, Changzhou University;
    2.PLA University of Science and Technology;
    3.King’s College, University of London
  • Online:2015-07-05 Published:2015-07-05

摘要: 对近十年提出的7种自由度(Degree of freedom, DOF)公式及其主要特点进行回顾。给出基于约束分析的DOF公式的统一形式与基于运动分析的DOF公式的基本形式。给出基于运动分析的DOF计算方法与基于约束分析的DOF计算方法。基于DOF公式,确定机构的拓扑结构特征,如机构的DOF、动平台的方位特征集及其维数、独立位移方程数、过约束度、冗余自由度,判定消极运动副与选取驱动副等。揭示DOF公式的物理内涵,即DOF公式表述了机构DOF、拓扑结构与运动方位特征三者之间的映射关系,而机构的拓扑结构和方位特征的运动过程不变性是构建这一映射关系的理论基础。

关键词: 并联机构, 方位特征, 拓扑结构, 拓扑结构特征, 约束分析, 运动分析, 自由度

Abstract: A review of seven significant DOF formulas proposed over the past ten years with their main characteristics is presented. On this basis, significant aspect related DOF on their basic form of constraint-analysis-based DOF formulas of motion-analysis-based DOF formulas is presented, their procedures are given. The characteristics of a mechanism topology structure are determined based on DOF formulas, such as mechanism DOF, position and orientation characteristic (POC) set of moving platform and its dimension, number of independent position equations, over constraint degree, redundant DOF and the determination of passive and active kinematic pairs. The mapping relationship among mechanism DOF, topology structure and POC set is further revealed with the invariance property of the mechanism topology structure and the POC set as the theoretical foundation for constructing this mapping relationship is presented.

Key words: constraint analysis, degree of freedom, motion analysis, parallel mechanism, position and orientation characteristic, topological structure, topology structure characteristics

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