【摘要】 从四杆机构具有灵活性和平面机构任意封闭图形具有3个约束的理论出发,对机构学的自由度计算公式重新进行了研究。研究结果表明:只要对平面、球面机构自由度的计算公式稍加变化,就可得到空间机构求自由度的新公式,利用这个新公式,既可以求空间机构的自由度,又可以求平面、多环、空间开式链、混合链等机构的自由度。比传统公式使用方便,在形式和内容上都有实际意义,从而为空间机构自由度的计算提供了可靠的理论计算式。更多还原

【Abstract】 From the theory that four-connecting rods mechanism has flexibility and any closed graphics of plane mechanism has three restrictions.the calculating formula of degree of freedom of mechanism is researched. The results of research indicate that the calculating formula of degree of freedom of space mechanism will be set up if the calculating formulas of degree of freedom of plane and spherical surface mechanism are changed a little. The new formula could substitute for 29 traditional calculating formulas of degree of freedom of space mechanism. The new formula is suitable for not only space mechanism but also the plane mechanism, the multiple rings space mechanism, the open chain space mechanism and mixed chain space mechanism and so on. Because that the new formula is easier and rapider in use than traditional formulas, it is a reliable theoretical calculating formula for calculating degree of freedom of space mechanism.更多还原