混联机械系统组合方式广义特征状态方程

Generalized characteristic state equations for combination patterns of hybrid mechanism system

提出了混联机械系统组合方式分析的新的广义特征状态方法.定义了多个机构单元的串、并混联等组合方式及其典型组合单元的数学模型,并以基本组合方式为基础,建立其对应的广义特征状态模型(集),提取了不同组合关系下的广义特征状态方程,从而建立起组合方式数学表达式.讨论了不同组合变化对应广义特征状态方程的计算方法及其变化规律,分析了组合关系的重组计算及功能传递方式,采用分层特征模式并结合定性数学知识建模,实现了把复杂机械系统的组合方式问题转化为广义运动特征矢量间的组合计算问题,继而构建组合系统运动变换的广义特征状态组合模型来传递输入输出特征,为其运动方案综合的选型及分解计算提供了参考模板,为混联机械系统的分析及特征建模提供了一种有效方法.

A new generalized characteristic state analyzing method for hybrid mechanism system is proposed. First, the basic combination patterns are investigated as well as related to the behavior of hybrid combination mechanism and the generalized characteristic state model sets are established according to the classified basic combination patterns. And then, generalized characteristic state equations are derived and the mathematic models of various combination patterns are set up. Meanwhile, the algorithm, transferring the compound combination system to the operation of the generalized characteristic state vectors, is analyzed according to the corresponding combination patterns. Thus, the reference regulation for the synthesis of kinematic schemes and the decomposition method are applied to conceptual design of the hybrid mechanical system. The mathematical model of the hybrid combination pattern facilitates the characterization of the basic mechanism units and basic combination patterns, transformation of problem specifications, decomposition into sub-problems, and the ability to system synthesis generated automatically.