平面连杆机构近似运动综合研究

Study on Approximate Kinematic Synthesis of Planar Linkages

连杆机构的近似综合惯用优化法求解，但该法有两大难题：即不易选定合适的初值和难以求得全局最优解。本文提出近似运动综合的全方案优选方法：即首先将近似运动综合的优化问题转化为多项式方程组求解，然后用连续法求出优化问题的全部解，最后考虑曲柄存在、分支、顺序。

Generally,approximate kinematic synthesis of planar linkages is studied by optimization method.But this method has two defects: i) the initial guesses are hard to be determined, ii) the global optimum solution is difficult to be found.In this paper, a new method is proposed which can find all solutions of approximate kinematic synthesis of planar linkages.Firstly, the optimization problem for approximate synthesis of planar linkages is transformed to finding all solutions of polynomial equations.Then the continuation method is used to find all solutions of the optimization.Finally,optimum linkages are obtained for considerations of the crank existence,branch,order and transmission angle conditions.