机械工程学报 >

2016 , Vol. 52 >Issue 1: 41 - 46

DOI: https://doi.org/10.3901/JME.2016.01.041

机构学及机器人

两种新颖的柔性机构自由度分析方法

  • 李守忠
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  • 中国农业大学工学院  北京  100083
李守忠，男，1983年出生，博士后，讲师。主要研究方向为机构学与柔性机构。 E-mail：lishouzhong@cau.edu.cn

收稿日期: 2015-02-27

  修回日期: 2015-10-26

  网络出版日期: 2016-01-05

基金资助

国家自然科学基金(51305022)、中央高校基本科研业务费专项资金 (FRF-TP-13-013A)和中国博士后基金(2012M520163)资助项目

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Two Kinds of Novel Methods for Analyzing the Degree of   Freedom of Flexure Mechanisms

  • LI Shouzhong
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  • College of Engineering, China Agricultural University, Beijing
    100083

Received date: 2015-02-27

  Revised date: 2015-10-26

  Online published: 2016-01-05

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摘要

自由度是反映柔性机构运动能力的一个重要指标。针对柔性机构的自由度分析方法复杂、匮乏的现状，提出两种适用于柔性机构的自由度分析方法。基于前期对图谱法的研究，提出一种图谱化的自由度分析方法，该方法简单、直观。在对归一化柔度进行对比的基础上，提出一种基于柔度矩阵特征分析的柔性机构自由度分析方法。通过对平行四杆型、车轮型以及组合型柔性模块的具体分析，验证了所提方法的正确性和实用性。

关键词： 旋量理论; 图谱法; 自由度; 特征分析

本文引用格式

李守忠 . 两种新颖的柔性机构自由度分析方法[J]. 机械工程学报, 2016 , 52(1) : 41 -46 . DOI: 10.3901/JME.2016.01.041

Abstract

The degree of freedom (DOF) is a significant index to reflect the moving capability of flexure mechanisms. Since the complexity and deficiency for analyzing the DOF of flexure mechanisms, two methods for analyzing the DOF of flexure mechanisms are presented. First one is a visualized method to analyze the DOF through mapping, based on the former research on graphic method, this method is simple and straight to be understood; the other method is based on the comparison of the normalized eigen-compliances of compliance matrix to analyze the DOF of flexure mechanisms. After the detailed analyzing on parallelogram flexure module, cartwheel flexure module, and the combination of these two modules, the derived two methods are certified their validity and practicability.

Key words： screw theory; graphic method; degree of freedom; eigen analysis

参考文献

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