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机构“自由度”和“活动度”的新见解

发表时间:2013-04-30  浏览量:1196  下载量:558
全部作者: 丁希仑,徐坤
作者单位: 北京航空航天大学机械工程及自动化学院
摘 要: 针对《机械原理》和《机器人学》中“自由度”这一概念存在的二意性,引入“活动度”这一概念,重新定义机构学中的“自由度”和“活动度”,并定义了独立活动度、局部活动度、从动活动度和限制活动度。活动度体现的是整个机构的构成,独立活动度、局部活动度体现的是机构的输入特性,而自由度为机构的输出特性,从而区分“自由度”、“活动度”,明确表示了机构的输入输出特性。
关 键 词: 机械原理与机构学;自由度;活动度;输入输出特性
Title: New insights on degree of “freedom” and “mobility” of mechanisms
Author: DING Xilun, XU Kun
Organization: School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics
Abstract: In this paper, the degree of mobility was introduced since the degree of freedom in “Mechanical principles” and “Robotics” had two meanings. degree of freedom and degree of mobility of mechanisms were redefined and given the definitions of independent degree of mobility, partial degree of mobility, passive degree of mobility and limited degree of mobility. The degree of mobility indicated the whole structure of the mechanism, while the independent degree of mobility and partial degree of mobility reflected the inputting characteristics of the mechanism and degree of freedom reflected the outputting characteristics of the mechanism. The differences between degree of freedom and degree of mobility clearly showed the input-output characteristics of mechanisms.
Key words: mechanism principles and mechanism; degree of freedom; degree of mobility; input-output characteristics
发表期数: 2013年4月第8期
引用格式: 丁希仑,徐坤. 机构“自由度”和“活动度”的新见解[J]. 中国科技论文在线精品论文,2013,6(8):712-715.
 
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