Review of the formulas for degrees of freedom in the past ten years

被引：7

作者：

Yang, Tingli ^{[1
]}

Shen, Huiping ^{[1
]}

Liu, Anxin ^{[2
]}

Dai, Jiansheng ^{[3
]}

机构：

[1] Research Center for Advanced Mechanism Theory, Changzhou University, Changzhou,213016, China

[2] PLA University of Science and Technology, Nanjing,210007, China

[3] King's College, University of London, London,WC2R 2LS, United Kingdom

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2015年 / 51卷 / 13期

关键词：

Constraint analysis - Degree of freedom - Parallel mechanisms - Position and orientations - Topological structure - Topology structure;

D O I：

10.3901/JME.2015.13.069

中图分类号：

学科分类号：

摘要：

A review of seven significant DOF formulas proposed over the past ten years with their main characteristics is presented. On this basis, significant aspect related DOF on their basic form of constraint-analysis-based DOF formulas of motion-analysis-based DOF formulas is presented, their procedures are given. The characteristics of a mechanism topology structure are determined based on DOF formulas, such as mechanism DOF, position and orientation characteristic (POC) set of moving platform and its dimension, number of independent position equations, over constraint degree, redundant DOF and the determination of passive and active kinematic pairs. The mapping relationship among mechanism DOF, topology structure and POC set is further revealed with the invariance property of the mechanism topology structure and the POC set as the theoretical foundation for constructing this mapping relationship is presented. ©, 2015, Journal of Mechanical Engineering. All right reserved.

引用

页码：69 / 80

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