基于矢量法的双肘杆机构运动学分析及参数优化

Kinematic Analysis of Dual-elbow-bar Mechanism Using Vector Representation and Optimization

采用矢量法建立模切机双肘杆机构的运动学模型,并通过矩阵运算推导机构各构件运动规律的表达式.利用Matlab编制了机构的运动学程序,并结合算例对双肘杆机构进行了运动学仿真.仿真结果与前人经由ADAMS的分析结果一致,表明所建运动学模型能够正确反映机构的运动特性.运动学仿真曲线还表明,动平台工作时相对水平面呈微小角度的摆动.为了改善机构的运动特性,以动平台摆角标准差最小为优化目标函数,使用Matlab优化工具箱,调用fmincon函数,对机构进行参数优化设计,优化结果表明机构的运动性能得到一定程度的改善.

This paper presents a kinematic model for the dual-elbow-bar mechanism by using the vector representation.With the proposed model,the kinematic expression of the discussed mechanism is derived and a simulation is conducted by Matlab codes.The perfect match between the simulation results and the ADAMS results proves the validation of the kinematic model.The simulation results also reveal that the moving platform works in an oscillating movement.An optimization model is presented on the bases of kinematic ana...