可调节型曲柄摇杆连续轨迹生成机构的优化综合

OPTIMAL SYNTHESIS OF ADJUSTABLE CRANK-ROCKER LINKAGES FOR CONTINUOUS PATH GENERATION

提出了利用机架杆方向结构误差优化综合可调节型曲柄摇杆连续轨迹生成机构的方法。在确定了可调节型曲柄摇杆机构的轨迹柔性的基础上，基于机架杆方向结构误差建立机构的优化综合模型，采用改进遗传算法获取综合结果。机架杆方向结构误差不仅计算便利，且能有效反映出实际生成的轨迹曲线与预期的理想轨迹曲线间的差异，避免了在两轨迹曲线上选取对应比较点的困难。改进遗传算法保证了获得全局最优解。综合实例结果表明了本方法的有效性。

Different paths are generated by the same crank-rocker linkage through adjusting the fixed pivot position of the rocker. An optimal synthesis method of adjustable crank-rocker linkages for continuous path generation is put forward, which is based on the orientational structural error of the fixed link. The path flexibility is firstly determined, the optimal synthesis model is then set up, the optimal synthesis solution is obtained using a modified genetic algorithm. The orientational structural error of the fixed link can effectively reflect the difference between the practical generated path and the desired path and can be calculated conveniently, avoid the difficulty of selecting corresponding comparison points of the two paths, The modified genetic algorithm guarantees that the optimal synthesis result is the global optimal solution. The number of independent design variables is reduced greatly compared with traditional optimal synthesis method. The result of a synthesis example verifies the effectiveness of the proposed method