燕山大学学报2011，Vol.35Issue(1)：1-14,39,15.DOI:10.3969/j.issn.1007-791X.2011.01.001
150年机构自由度的通用公式问题
150-year unified mobility formula issue
摘要
Abstract
The mechanism unified-mobility-formula issue has experienced over 150 years.In the beginning of this paper, it introduces the development of the mobility issue, and the Puzzle or Paradoxical mechanisms which do not suit the mobility G-K Criterion, and those scholars who studied the issue and proposed theirs formulas and methods, and also analyzed the characteristics of those methods.Then, the paper introduces the abnormal classical and mordern parallel mechanisms collected by Gogu, which is named as mechanism-mobility "GG lssue".In the second part, the paper focuses on the new mobility principel and the Modified G-K Criterion based on reciprocal screw proposed by Huang and his students.It introduces the research process and characteristic of the method.It analyzes how to demonstrate the method to be uniform and universal by using all the examples in "GG Issue" and which denotes the method bas great power for solution mobility issue and is suitable the mordem multi-DOF, ovewonstraint, even muliloop-coupling mechasms.All above-mention indecates that they has solved the 1 50-year issue.关键词
机构/自由度/过约束/普适性/并联机构分类
数理科学引用本文复制引用
黄真,刘婧芳,李艳文..150年机构自由度的通用公式问题[J].燕山大学学报,2011,35(1):1-14,39,15.基金项目
国家自然科学基金资助项目(50875227) （50875227）
