CAJ | 학술논문

含冗余约束的闭环机构型综合一直是机构学中的有意义和重要的课题。本文研究了闭环机构中关联杆组、冗余约束、自由度和被动自由度之间的关系。用串联连接的单自由度基本连杆构成含多自由度的运动副；推导出计算关联杆组自由度、基本运动副数、关联杆组中有效基本连杆数公式。在此基础上用决策树逻辑法确定了闭环机构冗余约束与基本连杆的关系，为含冗余约束和被动自由度的闭环机构型综合提供理论依据。
함용여약속적폐배궤구형종합일직시궤구학중적유의의화중요적과제。본문연구료폐배궤구중관련간조、용여약속、자유도화피동자유도지간적관계。용천련련접적단자유도기본련간구성함다자유도적운동부；추도출계산관련간조자유도、기본운동부수、관련간조중유효기본련간수공식。재차기출상용결책수라집법학정료폐배궤구용여약속여기본련간적관계，위함용여약속화피동자유도적폐배궤구형종합제공이론의거。
It has been a significant issue to synthesize novel mechanisms with redundant constraints and passive DoF. The relations of the associated linkages, the redundant constraints are studied systematically for the type synthesis of the closed mechanisms in this paper. Firstly, the kinematic pairs with multi-degree of freedoms are formed by combination of the basic joints with single degree of freedom in series, and the formulae are derived for the calculation of the degree of freedoms of the associated linkages, the number of the basic joints and the valid numbers of the basic links in the associated linkages. Secondly, many different associated linkages and the number of basic links are derived, and the relations among the associated linkages, the redundant constraints of the closed mechanisms are analyzed. The results of this research provide theoretical basic for type synthesis of mechanisms.