一种计算平面机构自由度的新方法.pdfVIP

机 械 工 程 学 报 CHINESE JOURNAL OF MECHANICAL ENGINEERING 一种计算平面机构自由度的新方法* 郭卫东 于靖军 (北京航空航天大学机器人研究所 北京 100191) 摘要：计算平面机构自由度的契贝谢夫-克鲁伯（Grübler-Kutzbach ）经典公式看似简单，但使用起来却经常出错。在对现行 多数《机械原理》和《机械设计基础》等教材中关于平面机构自由度计算中存在问题进行深入分析的基础上，也可得到相似 的结论。为此提出了一种计算平面机构自由度的新方法，并对相应的 Grübler-Kutzbach 公式进行了变异。即通过引入实约束 高副、虚约束高副、全约束低副和半约束低副等新概念，解决了目前在平面机构自由度计算中存在的问题，为平面机构自由 度计算的严谨性和科学性进行了有益的探索。 关键词：机械原理 平面机构 自由度 虚约束 中图分类号：TH112 A New Method of Mobility Calculation for Planar Mechanisms GUO Weidong YU Jingjun (Robotics Institute, Beihang University, Beijing 100191) Abstract ：The Classical Grübler-Kutzbach formula for calculating mobility of planar mechanisms seems very simple, however, it is not easy to obtain a correct result for some special mechanisms. In particular, by making an investigation of some cases existing in dozens of current-use textbooks relating to “Theory of Machines and Mechanisms” and “Fundamental to Machine Design”, it is found that some results derived from the well-known formula are not correct. For this reason, a new method of mobility calculation for planar mechanisms is proposed, which is establishing upon a derived Grübler-Kutzbach formula. In the proposed method and formula, the new concepts of real-constraint higher pair, redundant-constraint higher pair, full-constraint lower pair and half-constraint lower pair are introduced, thus the puzzle existing in the Grübler-Kutzbach formula can be solved effectively. The research is helpful for making the formula for calculating mobility of planar mechanisms more rigid and scientific. Key words ：Theory of machines and mechanisms Planar mechanisms Mobility Redundant constraints 动构件