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过约束与局部自由度对机构关节约束反力可解性的影响

王庚祥 刘宏昭 原大宁

王庚祥, 刘宏昭, 原大宁. 过约束与局部自由度对机构关节约束反力可解性的影响[J]. 机械科学与技术, 2014, 33(6): 796-801. doi: 10.13433/j.cnki.1003-8728.2014.0603
引用本文: 王庚祥, 刘宏昭, 原大宁. 过约束与局部自由度对机构关节约束反力可解性的影响[J]. 机械科学与技术, 2014, 33(6): 796-801. doi: 10.13433/j.cnki.1003-8728.2014.0603
Wang Gengxiang, Liu Hongzhao, Yuan Daning. Influences of Over-constraint and Local Degree of Freedom on the Solvability of Mechanism Joint Constraint Force[J]. Mechanical Science and Technology for Aerospace Engineering, 2014, 33(6): 796-801. doi: 10.13433/j.cnki.1003-8728.2014.0603
Citation: Wang Gengxiang, Liu Hongzhao, Yuan Daning. Influences of Over-constraint and Local Degree of Freedom on the Solvability of Mechanism Joint Constraint Force[J]. Mechanical Science and Technology for Aerospace Engineering, 2014, 33(6): 796-801. doi: 10.13433/j.cnki.1003-8728.2014.0603

过约束与局部自由度对机构关节约束反力可解性的影响

doi: 10.13433/j.cnki.1003-8728.2014.0603
基金项目: 

国家自然科学基金项目(51275404)

陕西省重点学科建设专项资金项目

陕西高校省级重点实验室科研项目(2010JS080)

西安理工大学优秀博士学位论文研究基金项目(102-211209)资助

详细信息
    作者简介:

    王庚祥(1985-),博士研究生,研究方向为并联机器人和机械设计及理论,wanggengxiang27@163.com

    通讯作者:

    刘宏昭,教授,博士,博士生导师,liu-hongzhao@163.com

Influences of Over-constraint and Local Degree of Freedom on the Solvability of Mechanism Joint Constraint Force

  • 摘要: 利用静力学平衡方程研究了一种含局部自由度的4-SPS/CU无过约束并联机构的受力分析。写出了该机构的静力学平衡方程并得出其方程组中方程个数大于未知量的个数,采用局部转换矩阵去掉了该机构中局部自由度对应的力矩平衡方程使原来的超定方程变为静定方程。说明了对机构中局部自由度的预处理提高了静力学平衡方程的求解效率。为了系统的研究过约束和局部自由度对机构静力学平衡方程的影响,分别讨论了2阶至5阶过约束机构静力学平衡方程的可解性与机构中过约束与局部自由度的关系,制定了机构中局部自由度和过约束的判定方法。证明了机构中过约束与局部自由度对机构静力学平衡方程的可解性影响具有一般性,为机构的关节约束反力求解提供了理论基础。
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出版历程
  • 收稿日期:  2012-10-13
  • 刊出日期:  2015-06-10

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