CAJ | 학술논문

基于运动分流法,提出一种改进的多环耦合机构的自由度分析方法,可将复杂的多环耦合机构拆分成多个运动独立的链. 应用螺旋理论分析独立运动链所含耦合节点相对于机架的独立运动,并用广义运动副等效代替,整个机构就可以等效为一个并联机构. 通过分析等效并联机构的运动和约束螺旋系,即可确定多环耦合机构动平台的自由度数目和性质. 将提出的方法应用于一种Hoberman Switch-Pitch魔球机构的自由度分析,验证了该方法的有效性及简单性.
기우운동분류법,제출일충개진적다배우합궤구적자유도분석방법,가장복잡적다배우합궤구탁분성다개운동독립적련. 응용라선이론분석독립운동련소함우합절점상대우궤가적독립운동,병용엄의운동부등효대체,정개궤구취가이등효위일개병련궤구. 통과분석등효병련궤구적운동화약속라선계,즉가학정다배우합궤구동평태적자유도수목화성질. 장제출적방법응용우일충Hoberman Switch-Pitch마구궤구적자유도분석,험증료해방법적유효성급간단성.
An improved method based on screw theory for constraint and mobility analysis of complex coupled multi-loop mechanisms is proposed. The innovation is the proposition of motion shunting measure, by which the complex multi-loop coupled mechanisms can be split into several independent elements. The relative motion of the coupled-nod link in each element was analyzed and replaced by a generalized kinematic chain. The coupled mechanism was ultimately regarded as a common parallel mechanism. Limb twist systems and limb constraint systems of the equivalent parallel mechanism were analyzed and the characteristic of the output mobility was identified. With the proposed method, a typical Hoberman Switch-Pitch ball was analyzed, which shows the validity and simplification of the new method.