平面机构自由度计算Calculationofdegrees.pptx

平面机构自由度计算Calculationofdegreesoffreedomforplanarmechanisms主讲人：周会娜

123目录CONTENTS平面机构自由度计算机构具有确定运动的条件例题解析CalculationofdegreesoffreedomforplanarmechanismsMechanismshaveconditionsfordeterminingmotionReflecExampleanalysistionquestions

教学目标Teachingobjectives1.如何使组合起来的构件产生运动并具有运动确定性?2.机构的自由度3.机构具有确定性运动的条件Howtomakethecombinedcomponentsgeneratemotionandhavemotioncertainty?DegreeofFreedomoftheMechanismConditionsforMechanismtoHaveDeterministicMotion

1平面机构自由度计算CalculationofdegreesoffreedomforplanarmechanismsONE

平面机构自由度与组成机构的构件数目、运动副的数目及运动副的性质有关。Thedegreeoffreedomofaplanarmechanismisrelatedtothenumberofcomponentsthatmakeupthemechanism,thenumberofmotionpairs,andthepropertiesofthemotionpairs.平面机构自由度计算Calculationofdegreesoffreedomforplanarmechanisms

1.低副Lowpair在平面机构中每个平面低副(转动副、移动副等)引入两个约束平面机构自由度计算Calculationofdegreesoffreedomforplanarmechanisms图1转动副Figure1Rotatingpair图2移动副Figure2MobileSub低副提供约束及自由度情况:引入2个约束，保留1个自由度。Lowpairprovidesconstraintsanddegreesoffreedom:introduce2constraintswhileretaining1degreeoffreedom.

1.高副SeniorOfficer平面机构自由度计算Calculationofdegreesoffreedomforplanarmechanisms高副提供约束及自由度情况:限制了沿公法线n-n方向的相对移动保留了沿接触处切线t-t方向的相对移动和在平面内的相对转动。引入1个约束，保留2个自由度。Thehighpairprovidesconstraintsanddegreesoffreedom:itrestrictstherelativemovementalongthen-ndirectionofthecommonnormalandretainstherelativemovementalongthetangentt-tdirectionatthecontactpointandtherelativerotationintheplane.Introduceoneconstraintwhileretainingtwodegreesoffreedom.

设机构共有N个构件TheestablishmenthasatotalofNcomponents活动构件数:n=N-1Numberofactivecomponents:n=N-1在没有用运动副联接之前，这些可动构件的自由度总数应为3n。当各构件用运动副连接起来之后,由于运动副引入的约束使构件的自由度减少Beforeconnectingwiththemotionpair,thetotalnumberofdegreesoffreedomofthesemovablecomponentsshouldbe3n.Aftereachcomponentisconnectedbyamotionpair,thedegreeoffreedomofthecomponent