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在工程实践和理论研究中经常会遇到机构自由度与原动件数目不相等的情况,这是经典机构自由度理论所无法解释的.针对这一问题,从对偶或二元性概念出发,提出了机构运行规律的对偶描述.以键合图理论为工具,建立了一般理想机构端口描述的结型结构方程,给出了机构自由度的功能描述.在能量传递分析和信号因果分析的基础上,提出并定义了“运动传递自由度”的对偶概念“力传递自由度”.利用自由度公式的结构描述、功能描述和对偶描述,进一步论述和分析了运动传递自由度与力传递自由度两者之间的关系,从而给出了机构自由度与原动件、执行构件关系更一般的描述.最后分析了几个典型理想机构的自由度、原动件和执行构件之间的关系.
In engineering practice and theoretical research, we often encounter the situation that the degree of freedom of mechanism and the number of motive pieces are not equal, which can not be explained by the theory of degrees of freedom of classical institutions.According to the concept of duality or duality, The dual description of the law of the operation of the mechanism is put forward.With the bond graph theory as a tool, the junction structure equation of the port description of the general ideal mechanism is established, and the function description of the degree of freedom of the mechanism is given.In the foundation of energy transfer analysis and signal causal analysis , This paper proposes and defines the dual concept of “freedom of motion transmission” “the degree of freedom of force transmission ”. By using the structural description, functional description and dual description of the degree of freedom formula, this paper further discusses and analyzes the relationship between freedom of motion transmission and The relationship between the degree of freedom of the mechanism and the prime mover and the executive component is given.Finally, the degrees of freedom of several typical ideal bodies, the relationship between the motive force and the executive component Relationship between.