【摘要】 在分析变自由度机构功能的基础上,应用拓扑理论对该类机构自由度变化的过程进行了构态描述,并对变自由度机构自由度变化前后的机构结构进行了分析和对比,找出了影响运动链结构变化的规律,从深层次揭示了变自由度机构的结构特点,同时为变自由度机构的综合、选型和应用提供了理论依据。根据变自由度机构的特点综合出该类机构的设计步骤,并设计了一种新型的机械抓手机构。更多还原

【Abstract】 On the basis of function analysis on a variable freedom mechanism, the changing process of freedom was described in configuration by the topological theory. The mechanism structures before and after its freedom variation were analyzed and c ompared, and the influencing rules of structural change of the kinematical chain were found. The structural characteristics of the variable freedom mechanism we re revealed. In the meantime, the theoretical basis of its synthesis, model sele ction and application was provided. In the end, the design procedure was conclud ed according to the mechanical features of the variable freedom mechanism.更多还原