机械原理(双语)第二章第三节.ppt

2.3 Degree of Freedom of a Mechanism2.3.1. Definition 2.3.2. Degree of Freedom of a Link and the Number of Constraints(约束) of a Kinematic Pair 2.3.2. Degree of Freedom of a Link and the Number of Constraints(约束) of a Kinematic Pair Therefore, an unconstrained(未约束的) link on a plane would have 3 DOF. (2)Revolute pair: (2)Revolute pair: (2)Revolute pair: Connecting two planar links with a revolute pair has the effect of removing two DOF from the system. In other words, a revolute pair has two constrains(x and y). (3) Sliding pair ：A sliding pair constrains(约束） relative translation(平移) along the common normal(公法线) and relative rotation, permitting only a rectilinear(直线的) relative motion along the path of the slide way. (4) Planar higher pair: Thus, a planar higher pair has only one constraint（约束） or eliminates(消除) only one DOF. 2.3.3 Structural Formula of a Mechanism （机构的结构公式） F=3n-2PL-Ph=3?3 -2?4 =1 F=3n-2PL-Ph=3?4 -2 ?5 =2 F=3n-2PL-Ph=3?2 -2?2 -1=1 F=3n-2PL-Ph=3?6 -2?7 -3=1 2.3.4. Conditions for a Mechanism to have a Determined Motion (1) F?1. (2) F= number of the driving links. If F=0, it is a truss(桁架). F=3n-2PL-Ph =3?2 -2?3=0 If the number of driving links is greater than the DOF of the mechanisms, the kinematic chain cannot move due to the conflict(冲突) between the input forces. In extreme(极端) cases, the weakest link in the chain may be broken. If the number of driving links is less than the DOF of the mechanisms, some driven(从动的) links will not have determined motion. 当机构的自由度大于机构的原动件数时，不能说机构就无用。机构的运动也不一定是毫无规律的乱动，而要受到最小阻力定律的支配，即:当机构的自由度大于机构的原动件数时，机构将优先沿着阻力最小的方向运动。 以下是我系阮成功同学制作的“爬楼梯机器人”，在2000年10月“挑战杯”第五届福建省大学生课外学术科技作品竞赛中获奖。该机器人只有一个电机，但该机采用的却是双自由度机构。 DOF＝2 * mechanism with respect to(相对于) the frame is called the degree of freedom (DOF) of the mechanism. The number of independent(独立的) parameters needed to define uniquely(唯一地) the locations of all moving links within a F=1?3 F=2?4 F=1?2 F=1?6 (1) If a