Analysis Method and Application of the Degree of Freedom and Mobility of a Kind of Complex Planar Mechanism

Zhang Yan; Sun Qipeng; Deng Aoran; Qiu Lu; Li Gangyan

doi:10.16578/j.issn.1004.2539.2018.01.031

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Analysis Method and Application of the Degree of Freedom and Mobility of a Kind of Complex Planar Mechanism

更新时间：2022-10-20

- Analysis Method and Application of the Degree of Freedom and Mobility of a Kind of Complex Planar Mechanism
- Vol. 42, Issue 1, Pages: 150-154(2018)
- 作者机构：
  
  1. 武汉理工大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.01.031
  CLC：
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[1]张炎,孙启鹏,邓傲然,邱露,李刚炎.一种复杂平面机构自由度与可动性分析方法及应用[J].机械传动,2018,42(01):150-154.

Zhang Yan, Sun Qipeng, Deng Aoran, et al. Analysis Method and Application of the Degree of Freedom and Mobility of a Kind of Complex Planar Mechanism. [J]. 42(1):150-154(2018)
[1]张炎,孙启鹏,邓傲然,邱露,李刚炎.一种复杂平面机构自由度与可动性分析方法及应用[J].机械传动,2018,42(01):150-154. DOI： 10.16578/j.issn.1004.2539.2018.01.031.

Zhang Yan, Sun Qipeng, Deng Aoran, et al. Analysis Method and Application of the Degree of Freedom and Mobility of a Kind of Complex Planar Mechanism. [J]. 42(1):150-154(2018) DOI： 10.16578/j.issn.1004.2539.2018.01.031.

摘要

采用螺旋理论分析机构支链对动平台的约束,找出平面机构中的虚约束和局部自由度,修正了自由度的计算公式;通过分析机构支链的约束虚功率研究平面机构的可动性,用以判断机构能否连续运动。以一种平面瞬时运动机构为例,验证了该方法的有效性;最后以某型车载雷达举升机构为应用对象,研究结果表明,该方法适用于含有虚约束的复杂平面机构的自由度与可动性分析。

Abstract

The screw theory is adopted to analyze the constraint of planar mechanisms branch link on mobile platform,the redundant constraint and partial degree of freedom of mechanism is found out,and the formula of degree of freedom is modified,the mobility of planar mechanisms is researched by analyzing constraints virtual power of mechanisms branch link,which can judge whether mechanism move continuously. The effectiveness of proposed method is verified by an example of a planar instantaneous motion mechanism. Finally,taking a radar vehicle-borne array lifting mechanism as research object,the results show that the analysis method of the degree of freedom and mobility is suitable for complex planar mechanisms which contain redundant constraint.

关键词

螺旋理论约束自由度可动性

Keywords

Screw theoryConstraintDegree of freedomMobility

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