[1]杨廷力,沈惠平,刘安心.机构自由度公式的统一形式及其物理内涵[J].常州大学学报(自然科学版),2013,(04):1-8.[doi:10.3969/j.issn.2095-0411.2013.04.001]
　YANG Tingli,SHEN Hui ping,LIU An xin.General form and Physical Meaning of the DOF Formula[J].Journal of Changzhou University(Natural Science Edition),2013,(04):1-8.[doi:10.3969/j.issn.2095-0411.2013.04.001]
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机构自由度公式的统一形式及其物理内涵()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
期数:
2013年04期
页码:
1-8
栏目:
出版日期:
2013-09-30

文章信息/Info

Title:
General form and Physical Meaning of the DOF Formula
作者:
杨廷力; 沈惠平; 刘安心
1常州大学 机械工程学院，江苏 常州 213016;2.中国石化金陵石化公司，江苏 南京 210000；3.解放军理工大学 野战工程学院，江苏 南京，210007
Author(s):
YANG Tingli; SHEN Hui ping; LIU An xin
1.School of Mechanical Engineering,Changzhou University,Changzhou 213016,China;2.Sinopec Jinglin Petrochemical Corp, Nanjing 210000,China; 3.Institute of Field Engineering,PLA University of Science and Technology,Nanjing 210007,China
关键词:
并联机构; 拓扑结构; 自由度; 方位特征; 约束分析; 运动分析
Keywords:
parallel mechanism;  topological structure;  degree of freedom (DOF);  position and orientation characteristics (POC);  constraint analysis;  kinematic analysis
分类号:
TH 11
DOI:
10.3969/j.issn.2095-0411.2013.04.001
文献标志码:
A
摘要:
　由于并联机器人机构的发展，最近十多年，提出了6种新的主要的机构自由度（DOF）公式。在简述这6种公式的结构与特点的基础上给出了这些公式的统一形式及其物理意义，以及DOF公式取得进展的原因；对基于约束螺旋系的统一形式的DOF公式，提出了DOF计算方法的改进建议，并给出两个实例；而基于运动分析的统一形式的DOF公式，只适用于不含非独立运动元素的机构，仅是具有一般性的基于方位特征集的DOF公式的特例。
Abstract:
Along with the development of robot mechanism research, 6 new DOF formulas have been proposed in the last decade. After analyzing their structures and characteristics, a Unified form that is able to cover all these 6 formulas is given and the correspondi

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备注/Memo

备注/Memo:
基金项目：国家自然科学基金资助项目(51075045,51375062) 作者简介：杨廷力(1940-),男,河南南阳人,教授,博士生导师
更新日期/Last Update: 2013-09-30