对空间机构自由度计算公式的探索

On the Formula of Degree of Freedom in the Space Mechanism

设计空间机构时,首先遇到的问题是要正确确定空间机构的自由度,然而,用传统空间机构自由度公式去计算多自由度、多封闭环、谐波齿轮机构、混合型空间机构的自由度时,必须进行变换;计算一般单封闭环低副空间机构自由度时,也会受到很大限制.因此,发现传统空间机构自由度计算公式中存在的问题,对正确运用新建空间机构自由度公式去计算、设计、验证空间机构、机器人、生物机构的自由度有着重要的意义.

Designing space mechanism run into question at first is that correct to confirm space degree of freedom of organization, but calculating many degrees of freedom, seal more ring, harmony wave gear wheel organization, space degree of freedom of organization of mixing with traditional degree of freedom must be very tedious; Calculating general form seal ring low packs of space degree of freedom of organization can be limited greatly too. Therefore, finding traditional degree of freedom of space organization have important meaning for correcting to use new degree of freedom formula, designing and proving space organization, robot, biological degree of freedom of organization.