中国机械工程2026，Vol.37Issue(3)：564-570,585,8.DOI:10.3969/j.issn.1004-132X.2026.03.006
避免局部自由度求解的多模式机构抖动判定方法研究
Research on Judgment Methods for Multi-mode Mechanism Shakiness to Avoid Local Degrees of Freedom Solution
摘要
Abstract
Mechanism shakiness occured in the transition configuration where the motion branches of different degrees of freedom intersect,which was the key factor causing the poor controllability and motion stability of the mechanisms,and the judgment was crucial.The conditions for determining the kinematic singular shakiness of the mechanisms were presented.When the constraint ideal of the kinematic loop equa-tions of the mechanisms was radical ideal or the real dimension of solution was different from the complex dimension after the decomposition of the constraint ideal,if there were higher-order tangent cones and the intersection of the different dimensional tangent spaces of the higher-order tangent cones existed real solu-tions,the mechanism was a kinematic singular shakiness mechanism.Combined with the kinematic non-singular shakiness conditions,shakiness types of the mechanisms were summarized.Based on the polyno-mial ideal and differential tangent cone theory,a unified and general judgment method and algorithm for mechanism shakiness were proposed to avoid local degrees of freedom solution.According to the algo-rithm,the multi-mode 7R mechanisms were judged to be kinematic singular shakiness mechanisms.The two actuation motors of the mechanisms were enabled and disabled to make the mechanism motion mode switch smoothly and avoid the influences of mechanism shakiness.The 7R mechanism satisfying the scale constraint type was embedded into vehicle latch,and realized electric cinch and auxiliary opening function by mode switching.关键词
机构抖动/高阶切锥/运动奇异抖动/多模式机构/汽车门锁Key words
mechanism shakiness/high-order tangent cone/kinematic singular shakiness/multi-mode mechanism/vehicle latch分类
机械制造引用本文复制引用
谢宇航,杭鲁滨,康开东,黄晓波,迟永琳..避免局部自由度求解的多模式机构抖动判定方法研究[J].中国机械工程,2026,37(3):564-570,585,8.基金项目
国家自然科学基金(51475050) （51475050）
上海汽车工业科技发展基金(1617) （1617）
