轻工机械2023，Vol.41Issue(6)：9-16,8.DOI:10.3969/j.issn.1005-2895.2023.06.002
基于几何代数的四面体机构自由度分析
Mobility Analysis of Tetrahedral Mechanisms Based on Geometric Algebra
摘要
Abstract
Due to the complex structure of multi-loop coupling in tetrahedral mechanisms,existing methods for calculating degrees of freedom couldnot effectively determine the constraints of the coupling part when conducting free analysis,a degree of freedom analysis method for tetrahedral mechanisms based on geometric algebra was proposed.Firstly,the topological equivalence on the entire mechanism was performed to find the shortest branch of the mechanism.By modifying the twist space of the branch,the constraints brought by the closed-loop coupling with the branch in the twist space of the branch were reflected.Finally,by intersecting all modified twist spaces,the analytical expression for the degrees of freedom of the output component was obtained.Based on specific examples,it can be seen that the proposed method does not require logical judgment and can directly obtain the degree of freedom properties of the output components of the mechanism.The variables in the analytical formula also provide a selection scheme for the subsequent drive distribution which has some engineering significance.关键词
四面体机构/自由度计算/多环耦合/几何代数Key words
tetrahedral mechanism/mobility analysis/multi-loop coupling/geometric algebra分类
机械制造引用本文复制引用
郭进群,柴馨雪..基于几何代数的四面体机构自由度分析[J].轻工机械,2023,41(6):9-16,8.基金项目
国家自然科学基金资助项目(52005448) （52005448）
国家自然科学基金资助项目(51935010) （51935010）
国家自然科学基金资助项目(52205023) （52205023）
机械系统与振动国家重点实验室课题资助项目(MSV202314). （MSV202314）
