机构中过约束判定的新方法

中国机械工程

机构中过约束判定的新方法

卢文娟1,2;张立杰1,2;谢平3;曾达幸1,2;张一同1,2

1.燕山大学河北省并联机器人与机电系统实验室，秦皇岛，066004
2.燕山大学先进锻压成形技术与科学教育部重点实验室，秦皇岛，066004
3.燕山大学河北省测试计量技术及仪器重点实验室，秦皇岛，066004

出版日期:2017-10-25 发布日期:2017-10-24
基金资助:
国家自然科学基金资助项目(51775473)；
河北省教育厅高等学校科技计划青年基金资助项目(QN2017144)
National Natural Science Foundation of China （No. 51775473）

A New Determination Method of Overconstraints for Mechanisms

LU Wenjuan1,2;ZHANG Lijie1,2;XIE Ping3;ZENG Daxing1,2;ZHANG Yitong1,2

1.Parallel Robot and Mechatronic System of Laboratory of Hebei Provincie,Yanshan University,Qinhuangdao,Hebei,066004
2.Key Laboratory of Advanced Forging & Stamping Technology and Science,Ministry of Education,Yanshan University,Qinhuangdao,Hebei,066004
3.Key Laboratory of Measurement Technology and Instrumentation of Hebei Province,Yanshan University,Qinhuangdao,Hebei,066004

Online:2017-10-25 Published:2017-10-24
Supported by:
National Natural Science Foundation of China （No. 51775473）

摘要/Abstract

摘要： 将前期研究中提出的基于杆组参数矩阵的交集规则及过约束判断方法推广到更为一般的过约束机构。从过约束产生的本质出发，讨论了刚性闭合、通过运动链闭合、通过单个运动副闭合，及其过约束，得到了单环路机构中过约束判断的两个准则。对于较复杂机构，借助“结构流程图”的辅助分析，依据闭合方式，通过分析每个闭合过程中对应的杆组参数矩阵来确定过约束。分析了两个典型机构中的过约束，所得结果与实际一致，证明所提方法的方便性和实用性。

关键词: 过约束, 闭合方式, 杆组参数矩阵, 集合求交

Abstract: A method of overconstraint determination presented by pre-researches based on link group parameter matrix and list intersections, its range of pre-research needed to further extend to general spatial overconstraint mechanisms. Based on the engendered natures of overconstraints, usual closing forms and corresponding overconstraints were discussed, including rigid closure, closure by kinematic chain, and closure by single joints. Meanwhile, two criteria for judging the overconstraints in a single loop mechanism were obtained. Furthermore, an idea with the aid of “structural flow diagram” to determine the overconstraints for a complex mechanism was put forward. According to the closing form, the overconstraint might be checked in each closed processes by the corresponding link group parameter matrix. Finally, two typical mechanisms from the literatures were taken as instances. The results coincide with the prototype data, which shows the convenience and practicality of the proposed theory.

Key words: overconstraint, closing form, link group parameter matrix, list intersection

中图分类号:

TH112

卢文娟1,2;张立杰1,2;谢平3;曾达幸1,2;张一同1,2. 机构中过约束判定的新方法[J]. 中国机械工程.

LU Wenjuan1,2;ZHANG Lijie1,2;XIE Ping3;ZENG Daxing1,2;ZHANG Yitong1,2. A New Determination Method of Overconstraints for Mechanisms[J]. China Mechanical Engineering.

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