变速连杆机构的运动控制

Motion Control of the Varied Speed Linkage-mechanism

应用最优控制理论,通过控制连杆机构的输入转速函数以提高机构的运动柔性,并将对输入函数的控制问题转化为对一两点边值问题的求解,最后给出设计实例以验证该方法的可行性。

Applying optimal control theory, the investigation about how to improve linkage-mechanism＇s motion flexibility by controlling its input speed function has been presented. And the process of obtaining the controlled input speed function has been changed to solve a two-point-boundary problem. At last, an example is given to validate the methodology.