第2章机构的结构分析 - 机械原理.ppt

2-1 Content and Aim(学习内容及其目的) Example 2 F=3n-2PL-Ph=3×3 -2×4 =1 This is a four-bar mechinsm，the moving links are AB,BC and CD,the number of Lower pair is four，and the number of Higher pair is zero，so the mechnism has one DOF，and it has not determined motion. 在这四杆机构中，其中活动构件为AB、BC、CD,低副数目为4个，高副数目为0，所以自由度为1，有确定的运动形式。 Example 3 F=3n-2PL-Ph=3×4 -2×5 =2 This is a five-bar mechinsm，the moving links are AB,BC,CDand DE,the number of Lower pair is five，and the number of Higher pair is zero，so the mechnism has two DOF，and it has determined motion. 在这五杆机构中，其中活动构件为AB、BC、CD、DE,低副数目为5个，高副数目为0，所以自由度为2。可动，但是运动形式不能确定 2.6 Points for Attention during the Calculation of DOF 计算平面机构自由度时应该注意的事项 Key ponits：Calculate the Number of the DOF accurately?、 Multiple Joint 、 Passive DOF 、?Redundant Constraints 注意事项：复合铰；局部自由度；虚约束 2.5.1 Calculate the Number of the DOF accurately 正确计算运动副数目 1.Compound Hinge (Multiple Joint) (复合铰) 复合铰动画 The number of revaluates in a compound hinge is equal to one less than the number of links joined at that hinge. 组成复合绞的转动副的数目等于铰接在一起的构件数目减一 In this mechanism, at the location of B、C、D、F there are three Compound Hinges total and every one has two revolving pairs. So N=7，Pl=10，Ph=0 在如图机构中B、C、D、F四处都是由三个构件组成的复合铰，各具有两个转动副。故N=7，Pl=10，Ph=0 F=3N-（2Pl+Ph）=3×7－（2×10＋0）＝1 2.When two links are connected by more than one parallel sliding pair, only one sliding pair can be counted during the calculation. 两构件多处接触构成移动副只能按照一个移动副计算 一个移动副 3.When two links are connected by more than one revolute pair whose axes coincide. 两构件多处接触构成转动副只能按照一个转动副计算 4.When two links are connected by more than one higher pair whose common normal passing through the points of contact coincide. 两构件多处接触构成高副，若接触点的公法线重合则只能按照一个高副计算 一个高副 5.However, if their common normals do not coincide, then both higher pairs should be counted. 两构件多处接触构成高副，若接触点的公法线不重合则按照多个高副计算 复合高副1\2-19a 复合高副2\2-19b 2.5.2 Passive DOF (Local Degree of Freedom)(局部自由度) In some mech