CN108959812A - A method of based on constraint normal decision mechanism passive constraint - Google Patents
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Abstract
The invention discloses a kind of methods based on constraint normal decision mechanism passive constraint, this method establishes the method for geometry for judging component Planar Mechanisms according to the quantity and its geometrical relationship of the quiet normal of each obligatory point of component, to judge component whether by Planar Mechanisms, passive constraint is not present in the component if component not Planar Mechanisms, if component the case where there are Planar Mechanisms, then according to the speed of the dynamic normal of each obligatory point of the component, whether the moment is matched, and then judging the classification that component suffers restraints, the classification of the constraint is divided into real constraint, instantaneous passive constraint and passive constraint；This method is simpler during analysis institution's passive constraint, intuitively, general, does not need advanced theoretical basis and complicated mathematical computations, relevant staff is made to be easier to receive, use, also more easily promote.
Description
Technical field
The invention belongs to mechanical design fields, and in particular to it is a kind of based on constraint normal come the side of decision mechanism passive constraint
Method is suitable for the judgement of passive constraint in the complex mechanisms such as robot, parallel machine extensively.
Background technique
During calculating mechanism freedom, most important is also that be most difficult to judge is exactly passive constraint in mechanism.Machine
It whether there is passive constraint in structure, there are passive constraints for which component, this is urgent problem to be solved during analysis institution, simultaneously
This is also to limit us in the bottleneck of analysis institution, but being but suitable for all practitioners without any one judges machine at present
The universal method of structure passive constraint, this just greatly limit we for mechanism deeper into research.
Although occurring many new methods, such as the side based on kinematics analysis during exploring mechanism freedom
Method is based on the group theory, spiral algebraic approach, the method for Differential Geometry, the side based on screw theory based on the method for Jacobian matrix
Method, and using the methods of the empirical method of relatively broad " given particular geometric condition ", in the available mechanism of these methods
Passive constraint, but these methods all fail to be widely used, and reason can sum up are as follows: 1) various methods are not all directed to
In mechanism the specific component of passive constraint come explore passive constraint generation condition and rule, be not easy to establish the method for universality；2)
It is required that there have higher theoretical level and analytic process using this to be complicated, it is therefore desirable to develop it is a kind of simpler, it is intuitively, general
Decision mechanism passive constraint method.
Summary of the invention
In order to overcome the deficiencies of the prior art, the present invention provides a kind of method based on constraint normal decision mechanism passive constraint,
It is being analyzed with the presence or absence of passive constraint using this method according in the quantity and geometrical relationship decision mechanism for constraining normal in mechanism
It is simpler during mechanism passive constraint, it is intuitively, general, advanced theoretical basis and complicated mathematical computations are not needed, are made
Relevant staff is easier to receive, and uses, also more easily promotes.
The purpose of the present invention is what is be achieved through the following technical solutions:
A method of based on constraint normal decision mechanism passive constraint, specifically includes the following steps:
(1) kinematic pair each in mechanism is equivalent at several obligatory points, the normal at obligatory point is defined as constraint normal,
The constraint normal is divided into quiet normal, dynamic normal, redundancy normal, and the quiet normal of each kinematic pair, dynamic normal are marked,
The quiet normal is the normal that instantaneous relative velocity is zero between two components, and the dynamic normal is the normal vertical with quiet normal,
The redundancy normal attach most importance to it is multiple constrain certain freedom degree quiet normal；
(2) component in mechanism is divided into same root component and parent component, the parent component is can be with several structures in mechanism
Part forms the component of kinematic pair, and several components are one group with root component；
(3) method of geometry for judging component Planar Mechanisms is established according to the quantity of the quiet normal of each obligatory point of component and its geometrical relationship,
Whether to judge component by Planar Mechanisms, passive constraint is not present in the component if component not Planar Mechanisms, if the component exists
The case where Planar Mechanisms, then according to the speed of the dynamic normal of each obligatory point of the component whether the moment match, and then judge component by
The classification of constraint, the classification of the constraint are divided into real constraint, instantaneous passive constraint and passive constraint.
Further, structure is judged according to the quantity of the quiet normal of each obligatory point of component and its geometrical relationship foundation in step (3)
The method of part Planar Mechanisms are as follows:
A: the method that non-same root component judges Planar Mechanisms: one group in mechanism is with root component while constraining first component, and first component
With the effective normal quantity n for meeting at the effective normal quantity of any or being parallel to each other at each obligatory pointhGreater than space where normal
Dimension d when, then the quantity of first component Planar Mechanisms and redundancy normal be nh-d；Similarly, there is h group with root component in mechanism while about
Beam first component, and effective method line number that each group component is parallel to each other to first component with the effective normal quantity or each group for meeting at a bit
Measure nhWhen greater than d+h-1, then the quantity of first component Planar Mechanisms and redundancy normal is nh-h-d+1；
B: the method for Planar Mechanisms is judged with root component: having one group mutually to constrain two-by-two in mechanism with root component or one group the same as root component
Two-by-two when the other multiple components of immediate constraint, if certain is the same as the effective normal quantity n of root componenthIt is greater than in 6, plane in space and is greater than
When 3, then the component Planar Mechanisms, and the redundancy method line number amount of the component is n in spaceh- 6, it is planar nh- 3, in mechanism
The total quantity of redundancy normal is the sum of each component redundancy method line number amount.
Further, effective normal is defined as: second component is to the quiet normal and first component of first component to the third component
Quiet normal be referred to as effective normal of first component.
Further, the method for the speeds match of the dynamic normal of each obligatory point of Planar Mechanisms component is judged in step (3) are as follows: A:
When having served as the quiet normal at each obligatory point of confining part and meeting at a bit, the speed if each obligatory point can guarantee that angular speed is equal
Match；B: if the quiet normal at each obligatory point of Planar Mechanisms component is parallel to each other, if each obligatory point linear velocity direction same size phase
Deng then speeds match.
Further, judge component by about according to the method for the speeds match of the dynamic normal of each obligatory point of Planar Mechanisms component
The class method for distinguishing of beam are as follows: Planar Mechanisms component can only meet in a flash two conditions of A, B at certain, and the position of each component changes in mechanism
After change, i.e., it is not able to satisfy two conditions of A, B, then the component is instantaneous passive constraint；The Planar Mechanisms component moment is able to satisfy two items of A, B
Part, then the component is passive constraint；Planar Mechanisms component any moment is not able to satisfy two conditions of A, B, then the component is real constraint.
Beneficial effects of the present invention: the passive constraint that mechanism is not only integrally subject to by the present invention specific to certain components it is empty about
Beam, and available passive constraint component specifically has several passive constraints, using the method for constraint normal, analysis institution's void about
It is simpler during beam, intuitive, general, advanced theoretical basis and complicated mathematical computations are not needed, related work is made
Personnel are easier to receive use, also more easily promote, and can be widely applied to create mechanism, analysis institution improves mechanism and right
The research of mechanism.
Detailed description of the invention
Fig. 1 is the frame diagram of invention decision mechanism passive constraint；
Fig. 2 is the schematic diagram of passive constraint in the more parallelogram mechanisms of plane in embodiment.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A method of based on constraint normal decision mechanism passive constraint, specifically includes the following steps:
(1) kinematic pair each in mechanism is equivalent at several obligatory points, the normal at obligatory point is defined as constraint normal,
The constraint normal is divided into quiet normal, dynamic normal, redundancy normal, and the quiet normal of each kinematic pair, dynamic normal are marked,
The quiet normal is the normal that instantaneous relative velocity is zero between two components, and the dynamic normal is the normal vertical with quiet normal,
The redundancy normal attach most importance to it is multiple constrain certain freedom degree quiet normal；
(2) component in mechanism is divided into same root component and parent component, the parent component refer to can with it is several in mechanism
Component forms the component of kinematic pair, and several components are one group with root component；
(3) method of geometry for judging component Planar Mechanisms is established according to the quantity of the quiet normal of each obligatory point of component and its geometrical relationship,
Whether to judge component by Planar Mechanisms, passive constraint is not present in the component if component not Planar Mechanisms, if the component exists
The case where Planar Mechanisms, then according to the speed of the dynamic normal of each obligatory point of the component whether the moment match, and then judge component by
The classification of constraint, the classification of the constraint are divided into real constraint, instantaneous passive constraint and passive constraint.
Component Planar Mechanisms are judged according to the quantity of the quiet normal of each obligatory point of component and its geometrical relationship foundation in step (3)
Method are as follows:
A: the method that non-same root component judges Planar Mechanisms: one group in mechanism is with root component while constraining first component, and first component
With the effective normal quantity n for meeting at the effective normal quantity of any or being parallel to each other at each obligatory pointhGreater than space where normal
Dimension d when, then the quantity of first component Planar Mechanisms and redundancy normal be nh-d；Similarly, there is h group with root component in mechanism while about
Beam first component, and effective method line number that each group component is parallel to each other to first component with the effective normal quantity or each group for meeting at a bit
Measure nhWhen greater than d+h-1, then the quantity of first component Planar Mechanisms and redundancy normal is nh-h-d+1；
B: the method for Planar Mechanisms is judged with root component: having one group mutually to constrain two-by-two in mechanism with root component or one group the same as root component
Two-by-two when the other multiple components of immediate constraint, if certain is the same as the effective normal quantity n of root componenthIt is greater than in 6, plane in space and is greater than
When 3, then the component Planar Mechanisms, and the redundancy method line number amount of the component is n in spaceh- 6, it is planar nh- 3, in mechanism
The total quantity of redundancy normal is the sum of each component redundancy method line number amount.
Effective normal is defined as: second component unites to the quiet normal and first component of first component to the quiet normal of the third component
Referred to as effective normal of first component.
The method of the speeds match of the dynamic normal of each obligatory point of Planar Mechanisms component is judged in step (3) are as follows: A: work as Planar Mechanisms
When quiet normal at each obligatory point of component meets at a bit, the speeds match if each obligatory point can guarantee that angular speed is equal；B: if
When quiet normal at each obligatory point of Planar Mechanisms component is parallel to each other, the speed if each obligatory point linear velocity direction same size is equal
Matching.The side for the classification that component suffers restraints is judged according to the method for the speeds match of the dynamic normal of each obligatory point of Planar Mechanisms component
Method are as follows: Planar Mechanisms component can only meet in a flash two conditions of A, B in mechanism after the position change of each component at certain and that is, cannot
Meet two conditions of A, B, then the component is instantaneous passive constraint；The Planar Mechanisms component moment is able to satisfy two conditions of A, B, then the component
For passive constraint；Planar Mechanisms component any moment is not able to satisfy two conditions of A, B, then the component is real constraint.
Shown in referring to Fig.1, the present embodiment is illustrated with passive constraint in the more parallelogram mechanisms of plane, such as Fig. 2 plane
More parallelogram mechanisms, component 1 are driving link.First by revolute pair B, E, G, C in mechanism it is equivalent at constraint, and by these
The constraint normal of revolute pair is expressed as the quiet normal F of revolute pair Bj15, dynamic normal Fd15, the sound normal of remaining revolute pair is as schemed
Shown in, the quantity and geometrical relationship of quiet normal suffered by each component in next analysis institution.Wherein component 1 is by rack
Two orthogonal effective normals, and a component 5 one effective normals along 1 direction of component are given, this three normals exist
It neither intersects at a point in plane where mechanism, is not also parallel to each other, therefore the not Planar Mechanisms of component 1, less there is passive constraint.
An effective normal along component 1 direction of the component 5 by component 1, at the same to component 2,3,4 respectively have one along component 2,
3, effective normal in 4 directions, since 4 effective normals of component 5 are parallel to each other, 5 Planar Mechanisms of component；Simultaneously component 1,2,
3,4 is equal and parallel, therefore the dynamic normal direction of component 5 is identical and velocity magnitude is equal, and in plane any one component by
The effective normal being parallel to each other to 4, and the equal inevitable passive constraint of velocity magnitude, component 1,2,3,4 are one group same with root component
When confining part 5, h=1.Mechanism redundancy method line number amount is nr=nh- h-d+1=4-1-2+1=2, thus component 5 by 2 void about
Beam, it is clear that the non-instantaneous passive constraint of the passive constraint.Operative constraint normal suffered by component 2,3,4 is similar with component 1, therefore does not deposit
In passive constraint.
Finally, it should be noted that the above description is only an embodiment of the present invention, it is used to explain the present invention, is not used to
The limitation present invention comes for those skilled in the art although the present invention is described in detail referring to the foregoing embodiments
Say, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic into
Row equivalent replacement.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all include
Within protection scope of the present invention.
Claims (5)
1. it is a kind of based on constraint normal come the method for decision mechanism passive constraint, which is characterized in that specifically includes the following steps:
(1) kinematic pair each in mechanism is equivalent at several obligatory points, the normal at obligatory point is defined as constraint normal,
The constraint normal is divided into quiet normal, dynamic normal, redundancy normal, and the quiet normal of each kinematic pair, dynamic normal are marked,
The quiet normal is the normal that instantaneous relative velocity is zero between two components, and the dynamic normal is the normal vertical with quiet normal,
The redundancy normal attach most importance to it is multiple constrain certain freedom degree quiet normal；
(2) component in mechanism is divided into same root component and parent component, the parent component is can be with several structures in mechanism
Part forms the component of kinematic pair, and several components are one group with root component；
(3) method of geometry for judging component Planar Mechanisms is established according to the quantity of the quiet normal of each obligatory point of component and its geometrical relationship,
Whether to judge component by Planar Mechanisms, passive constraint is not present in the component if component not Planar Mechanisms, if the component exists
The case where Planar Mechanisms, then according to the speed of the dynamic normal of each obligatory point of the component whether the moment match, and then judge component by
The classification of constraint, the classification of the constraint are divided into real constraint, instantaneous passive constraint and passive constraint.
2. it is according to claim 1 it is a kind of based on constraint normal come the method for decision mechanism passive constraint, which is characterized in that step
Suddenly the method for geometry for judging component Planar Mechanisms is established in (3) according to the quantity of the quiet normal of each obligatory point of component and its geometrical relationship
Are as follows:
A: the method that non-same root component judges Planar Mechanisms: one group in mechanism is with root component while constraining first component, and first component
With the effective normal quantity n for meeting at the effective normal quantity of any or being parallel to each other at each obligatory pointhGreater than space where normal
Dimension d when, then the quantity of first component Planar Mechanisms and redundancy normal be nh-d；Similarly, there is h group with root component in mechanism while about
Beam first component, and effective method line number that each group component is parallel to each other to first component with the effective normal quantity or each group for meeting at a bit
Measure nhWhen greater than d+h-1, then the quantity of first component Planar Mechanisms and redundancy normal is nh-h-d+1；
B: the method for Planar Mechanisms is judged with root component: having one group mutually to constrain two-by-two in mechanism with root component or one group the same as root component
Two-by-two when the other multiple components of immediate constraint, if certain is the same as the effective normal quantity n of root componenthIt is greater than in 6, plane in space and is greater than
When 3, then the component Planar Mechanisms, and the redundancy method line number amount of the component is n in spaceh- 6, it is planar nh- 3, in mechanism
The total quantity of redundancy normal is the sum of each component redundancy method line number amount.
3. it is according to claim 2 it is a kind of based on constraint normal come the method for decision mechanism passive constraint, which is characterized in that institute
State effective normal are as follows: second component is referred to as the effective of first component to the quiet normal of the third component to the quiet normal and first component of first component
Normal.
4. it is according to claim 1 it is a kind of based on constraint normal come the method for decision mechanism passive constraint, which is characterized in that step
Suddenly the method for the speeds match of the dynamic normal of each obligatory point of Planar Mechanisms component is judged in (3) are as follows: A: served as confining part and respectively constrained
When quiet normal at point meets at a bit, the speeds match if each obligatory point can guarantee that angular speed is equal；B: if Planar Mechanisms component
When quiet normal at each obligatory point is parallel to each other, the speeds match if each obligatory point linear velocity direction same size is equal.
5. it is according to claim 4 it is a kind of based on constraint normal come the method for decision mechanism passive constraint, which is characterized in that institute
Whether the speed for stating the dynamic normal of each obligatory point of Planar Mechanisms component matches and then judges the class method for distinguishing that component suffers restraints are as follows:
Planar Mechanisms component can only meet in a flash two conditions of A, B at certain, in mechanism after the position change of each component, i.e., be not able to satisfy A,
Two conditions of B, then the component is instantaneous passive constraint；The Planar Mechanisms component moment is able to satisfy two conditions of A, B, then the component be it is empty about
Beam；Planar Mechanisms component any moment is not able to satisfy two conditions of A, B, then the component is real constraint.
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