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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 kinematics of under-constrained and under-actuated mechanisms, a special type of mechanism is isolated which, on the face of it, is under-constrained or under-actuated and in fact has a motion that has been created by other constraints or motions in the mechanism or Boundary conditions. In order to clarify its essential distinction, it is defined as a harmonious institution and the definition and classification of a harmonious institution are described. According to the definition and classification, the typical institutions and application effects of several kinds of harmonious institutions are given respectively, and the design ideas are briefly described.