基于交集运算的自由度快速求解方法

中国机械工程 ›› 2015, Vol. 26 ›› Issue (4): 523-528.

基于交集运算的自由度快速求解方法

卢文娟1,2;张立杰1,2;张一同1,2

1.先进锻压成形技术与科学教育部重点实验室,秦皇岛,066004
2.燕山大学河北省重型机械流体动力传输与控制重点实验室,秦皇岛,066004

出版日期:2015-02-25 发布日期:2015-02-25
基金资助:
国家自然科学基金资助项目（51005195, 51275438）；河北省高等学校科学技术研究项目(QN2014175)

Fast Solution Method of Mobility Calculation Based on List Intersection

Lu Wenjuan1,2;Zhang Lijie1,2;Zhang Yitong1,2

1.Key Laboratory of Advanced Forging & Stamping Technology and Science,Ministry of Education of China, Yanshan University, Qinhuangdao, Hebei,066004
2.Hebei Key Laboratory of Heavy Mechinery Fluid Power Transimission and Control, Yanshan University, Qinhuangdao, Hebei, 066004

Online:2015-02-25 Published:2015-02-25
Supported by:
National Natural Science Foundation of China（No. 51005195, 51275438）

摘要/Abstract

摘要：

为简化机构自由度计算，基于GOM公式和杆组位移参数求交，通过分析平行约束力的位置关系判断基点转动参数的有效性，给出并证明了转动不受约束的3种情况，为有效解决集合求交运算中的转动参数是否被约束问题，以及机构自由度快速计算和自由度运动性质判别提供了一种简洁实用的方法。以3种典型机构为例，对基点参数有效性判别和机构自由度快速计算进行了验证。

关键词: 自由度, 快速求解, 集合求交, 过约束

Abstract:

In order to express DOF calculation as simple as possible, based on the GOM formula and the intersection calculation of displacement parameters of general link group, three cases were presented and proved when the rotation was not as constrained. These cases were proposed by analyzing the relationship of parallel constrain forces to judge the validity of base point parameters. Therefore, the problem of the validity judgement of base point parameters in the calculation of “rotation intersection” was solved effectively. And it provides a neat and practical method for the quick determination of the DOF and motion characteristics. Finally several typical examples from the literature were performed to show how to judge the validity of base point parameters and to calculate the DOF with the method mentioned above.

Key words: degree of freedom(DOF), fast solution, list intersection, virtual constraint

中图分类号:

TH112

卢文娟, 张立杰, 张一同, . 基于交集运算的自由度快速求解方法[J]. 中国机械工程, 2015, 26(4): 523-528.

Lu Wenjuan, Zhang Lijie, Zhang Yitong, . Fast Solution Method of Mobility Calculation Based on List Intersection[J]. China Mechanical Engineering, 2015, 26(4): 523-528.

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