摘要
研究了两曲柄分别为连杆和连架杆的一类混合驱动可控机构的逆运动学及其优化综合问题。建立了逆运动学方程,并以可控电动机驱动的构件加速度峰值最小作为优化目标,对五杆机构参数进行优化设计。结果表明优化目标值较优化之前减小了37.02%,优化效果明显,提高了该机构的运动性能,减小了由于加速度过大对可控电动机的破坏。
A hybrid input five-bar mechanism was analyzed as subject,which double cranks were side link and linkage. The equa- tion of inverse kinematics about this kind of mechanism was set up and solved. Then a optimization model which was based on in- verse kinematics was built. The results showed that the mechanism performance had a great improvement after optimization ,which reduce its value by 37.02%. This can release the concussion to the controllable motor because of the great acceleration.
出处
《现代制造工程》
CSCD
北大核心
2013年第10期67-69,97,共4页
Modern Manufacturing Engineering
关键词
可控机构
逆运动学分析
优化设计
controllable mechanism
inverse kinematics analysis
optimization design
