【摘要】 基于旋量理论的并联机构自由度分析方法是近十余年来发展起来的一种机构自由度和过约束分析计算的新方法,它成功解决了过约束(包括虚约束和公共约束)难以确定的问题。该方法不断完善,并已普及到研究生和高年级本科生的教材中。然而现有文献中给出的机构过约束分析的步骤尚不够清晰、准确和完善,基于此提出改进的分析步骤,并给出算例加以验证。更多还原

【Abstract】 The mobility analysis for parallel mechanisms based on screw theory was a new method for calculating the degree of freedom of mechanisms in nearly more than 10 years. It can successfully solve the problem that the overconstraints(including common constraints and redundant constraints)are difficult to determine. The method is in progressively perfect, and has popularized in the textbooks for graduates and senior undergraduates. But the overconstraint analysis steps for the mechanisms are not very clear, accurate and perfect in existing literatures.In this paper, an improved analysis steps are proposed, and verified by examples.更多还原