摘要
基于欠约束机构和欠驱动机构的运动特性分离出一类特殊机构,这类机构表面上属于欠约束或欠驱动机构,而实际上其运动轨迹已经由该机构中其他约束或驱动形成的运动或边界条件所决定。为了明确其本质区别,定义其为和谐机构,并描述了和谐机构的定义和分类。按照定义及分类,分别给出了几种和谐机构的典型机构及应用效果,并简述了其设计思路。
Based on the kinetic characteristics of under-actuated mechanisms and under-constraint mechanisms,a kind of special mechanism is separated,which seems to be under-actuated mechanism or under-constraint mechanism from outside,but its trajectories are restricted by the motion or boundary conditions formed by other drivers or constraints.The special mechanism was defined as harmonious mechanism in the paper in order to distinguish their essential differences.The definition and classification of the harmonious mechanisms was described.The effects of application of several typical harmonious mechanisms are listed,and brief introductions of their design ideas are given.
出处
《机械设计》
CSCD
北大核心
2011年第12期13-16,共4页
Journal of Machine Design
关键词
和谐机构
欠约束机构
欠驱动机构
机构的协调性
harmonious mechanism
under-actuated mechanism
under-constraint mechanism
coordination of mechanism
