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继文献 [1] ,提出了将平面机构按组成环路的运动副特性分类为 :“实自由度环路机构”、“虚自由度环路机构”及“时间环路机构”。三种环路机构的划分 ,不仅使自由度计算不再繁于计数低副及复合铰链的个数因而使自由度计算更为简便 ,而且解决了“虚自由度环路机构”中特殊运动副约束度难以确定 ,以及“时间环路机构”中运动副重复计算甚至无法计算的问题。由此将一般机构、瞬心机构、瞬变系统自由度、纯移动副机构、虚约束及局部自由度等各类平面机构自由度求解不一的方法 ,统一为便捷实用的公式 :F =n-2r。
Following literature [1], it is proposed to classify the planar mechanisms as the kinematic characteristics of composing loops into “real degree of freedom loop mechanism”, “virtual degree of freedom loop mechanism” and “time loop mechanism”. The division of the three kinds of loop mechanisms not only makes the calculation of the degree of freedom no longer count the number of low-side and compound hinges, thus makes the calculation of the degree of freedom more simple, and solves the problem of special movement pair in “virtual degree of freedom loop mechanism” The degree of constraint is difficult to determine, and the problem of double counting of motions in a “time loop agency” that can not even be calculated. Therefore, the methods of solving different degrees of freedom of various planar mechanisms such as general mechanism, instantaneous center mechanism, transient system degree of freedom, purely moving auxiliary mechanism, virtual constraint and local degree of freedom are unified into a convenient and practical formula: F = n -2r.