避免局部自由度求解的多模式机构抖动判定方法研究

doi:10.3969/j.issn.1004-132X.2026.03.006

摘要/Abstract

摘要：

机构抖动发生在不同自由度运动分支相交的过渡构形处，是导致机构可控性和运动稳定性差的关键因素，其判定至关重要。提出机构运动奇异抖动判定条件：当运动学方程组约束理想为根理想，或约束理想素分解的实维数与复维数不同时，如果方程组存在高阶切锥且高阶切锥不同维切空间交点存在实数解，则机构为运动奇异抖动机构。结合运动不奇异抖动条件梳理了机构抖动类型，以多项式理想结合微分切锥理论，提出避免局部自由度求解的机构抖动统一通用判定方法和算法。算法判定了多模式7R机构为运动奇异抖动机构，对机构两驱动电机进行使能及失能操作，使机构运动模式切换平稳，避免机构抖动影响；将满足尺度约束类型的7R机构嵌入汽车门锁，机构模式切换实现了电动吸合、辅助开启功能。

关键词: 机构抖动, 高阶切锥, 运动奇异抖动, 多模式机构, 汽车门锁

Abstract:

Mechanism shakiness occured in the transition configuration where the motion branches of different degrees of freedom intersect， which was the key factor causing the poor controllability and motion stability of the mechanisms， and the judgment was crucial. The conditions for determining the kinematic singular shakiness of the mechanisms were presented. When the constraint ideal of the kinematic loop equations of the mechanisms was radical ideal or the real dimension of solution was different from the complex dimension after the decomposition of the constraint ideal， if there were higher-order tangent cones and the intersection of the different dimensional tangent spaces of the higher-order tangent cones existed real solutions， the mechanism was a kinematic singular shakiness mechanism. Combined with the kinematic non-singular shakiness conditions， shakiness types of the mechanisms were summarized. Based on the polynomial ideal and differential tangent cone theory， a unified and general judgment method and algorithm for mechanism shakiness were proposed to avoid local degrees of freedom solution. According to the algorithm， the multi-mode 7R mechanisms were judged to be kinematic singular shakiness mechanisms. The two actuation motors of the mechanisms were enabled and disabled to make the mechanism motion mode switch smoothly and avoid the influences of mechanism shakiness. The 7R mechanism satisfying the scale constraint type was embedded into vehicle latch， and realized electric cinch and auxiliary opening function by mode switching.

Key words: mechanism shakiness, high-order tangent cone, kinematic singular shakiness, multi-mode mechanism, vehicle latch

中图分类号:

TH112

谢宇航, 杭鲁滨, 康开东, 黄晓波, 迟永琳. 避免局部自由度求解的多模式机构抖动判定方法研究[J]. 中国机械工程, 2026, 37(3): 564-570.

XIE Yuhang, HANG Lubin, KANG Kaidong, HUANG Xiaobo, CHI Yonglin. Research on Judgment Methods for Multi-mode Mechanism Shakiness to Avoid Local Degrees of Freedom Solution[J]. China Mechanical Engineering, 2026, 37(3): 564-570.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2026.03.006

https://www.cmemo.org.cn/CN/Y2026/V37/I3/564

图/表 6

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