对BagciC空间机构自由度公式的补充

Supplements on the formula of degree of freedom of Bagci C spatial mechanism

在美国机构学者Bagci C自由度公式的基础上,通过对空间机构的公共约束数、运动副数、构件数和环路数的分析,发现作者给出的计算公共约束表达式仅适用于机构阶等于6的情况,而不适用于机构阶不等于6的情况。通过分析,给出了适用于机构任意阶的通用公共约束计算表达式。

On the basis of the formula for degree of freedom of the American mechanism scholar Bagci C, through the analysis on number of common constraints, number of kinetic pairs, number of component parts and number of loops in spatial mechanism, it has been discovered that the expression given by the author for calculating the common constraints was only suitable in the situation when the order of the mechanism equals to 6 but not suitable in the condition while the order of mechanism does not equals to 6. By way of analysis, the expression of generalized common constraint calculation suitable for arbitrary ordered mechanisms was presented in this paper.