机械工程学报 >

2017 , Vol. 53 >Issue 15: 81 - 92

DOI: https://doi.org/10.3901/JME.2017.15.081

机构学及机器人

以对过约束的认识看自由度分析的历史发展

  • 卢文娟 ,
  • 张立杰 ,
  • 谢平 ,
  • 张一同 ,
  • 黄真
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  • 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. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 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
卢文娟,女,1983年出生,博士,副教授。主要研究方向为并联机构自由度分析、型综合。E-mail:wenjuan_lu@163.com;谢平,女,1972年出生,教授,博士研究生导师。主要研究方向为多源信息融合及状态监测。E-mail:pingx@ysu.edu.cn;张一同,男,1945年出生,教授。主要研究方向为机构学,凸轮的设计制造理论与装备。E-mail:ytzhang@ysu.edu.cn;黄真,男,1936年出生,教授。主要研究方向为机器人技术及并联机器人。E-mail:huangz@ysu.edu.cn

收稿日期: 2016-08-11

  修回日期: 2017-04-27

  网络出版日期: 2017-08-05

基金资助

国家自然科学基金（51275438）和河北省高等学校科学技术研究项目（QN2014175）资助项目。

收起

Review on the Mobility Development History with the Understanding of Overconstraints

  • LU Wenjuan ,
  • ZHANG Lijie ,
  • XIE Ping ,
  • ZHANG Yitong ,
  • HUANG Zhen
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  • 1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004;
    2. Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University), Ministry of Education of China, Qinhuangdao 066004;
    3. Key Laboratory of Measurement Technology and Instrumentation of Hebei Province, Yanshan University, Qinhuangdao 066004

Received date: 2016-08-11

  Revised date: 2017-04-27

  Online published: 2017-08-05

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摘要

过约束的处理是自由度计算的关键也是瓶颈，探索统一的自由度计算公式已经历一百五十余年的历史，回顾整个发展历程，其间伴随着人们对过约束由无到有，由浅入深的认识。以自由度计算的核心——"过约束"为线索，贯穿整个自由度发展历史，介绍具有代表性的四十余种自由度公式，按照各自对过约束的处理方式将其分为三大类：原始的自由度公式、考虑机构阶的自由度公式以及考虑全部过约束的自由度公式，总结各类公式的特点、分析其历史地位，从一个新的角度了解自由度发展的历史，为能进一步找出研究工作将来的发展方向，同时提出具有通用性，实用性的自由度新理论奠定基础。

关键词： 自由度公式; 过约束; 并联机构; 集合求交

本文引用格式

卢文娟 , 张立杰 , 谢平 , 张一同 , 黄真 . 以对过约束的认识看自由度分析的历史发展[J]. 机械工程学报, 2017 , 53(15) : 81 -92 . DOI: 10.3901/JME.2017.15.081

Abstract

The determination of overconstraint is always one of the key and difficult problems in mobility calculation. The research on unified-mobility-formula has experienced over 150 years. Recalling the entire development process, the understanding of overconstraint is a step-by-step process. According to the overconstraint, which is the most core question of mobility analysis, a review on the calculation of the mobility is introduced. More than forty approaches/formulas for mobility calculation presented in the literature are selected and grouped in three categories in accordance with their treatment for overconstraint:original mobility formula, the formula considering the rank of mechanism and the formula considering all the overconstraint. Furthermore the main characteristics are analyzed and summarized. The development history of mobility formulae is emphasized in a new perspective, which makes us identify the future direction of research and provides references for the introduction of new mobility approaches/formulas which are uniform and universal.

Key words： mobility formulae; overconstraint; parallel mechanism; list intersection

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