关于空间机构自由度的讨论

从四杆机构具有灵活性和平面机构任意封闭图形具有3个约束的理论出发，对机构学的自由度公式重新进行了研究。研究结果表明：只要对平面、球面机构自由度的计算公式稍加变化，就可得到空间机构求自由度的新公式，利用这个新公式，既可以求空间机构的自由度，又可以求平面、多环、空间开式链、混合链等机构的自由度。该新公式比传统公式使用方便，在形式和内容上都有实际意义，从而为空间机构自由度的计算提供了可靠的理论计算式。

A discussion about the degree of freedom of the space mechanism

From the theory that four-connecting rods mechanism has flexibility and any closed graphics of plane mechanism has three restrictions, the calculating formula of the degree of freedom of mechanism is researched. The results of research indicate that a new formula of the degree of freedom of the space mechanism will be set up if the calculating formula of degree of freedom of the plane and spherical surface mechanism is changed a little. The new formula may not only calculate the degree of freedom of the space mechanism, but the degree of freedom of the mechanisms of a plane, multiple rings, space open chains and mixed chains. The new formula is easier to use and is of real significance in the form and contents, which provides a reliable theoretical calculating formula for the computing of the degree of freedom of the space mechanism.