混合输入五杆机构的实际轨迹研究

Research of the Actual Path for Hybrid Input Five-bar Mechanism

混合输入五杆机构在实际运转时,恒速电机的速度会出现波动,给末端输出的轨迹造成误差。为了可以精准地生成其轨迹,提出了一种实际轨迹综合方法将混合输入五杆机构的动力学考虑在内。通过五次样条函数插值法使得伺服电机的理想运动轨迹二阶连续,给出了考虑机构动力学的混合输入机构动力学模型,描述了动力学模型的求解方法,以伺服电机的输入为设计变量,来改善末端执行器的轨迹误差。实例仿真证实提出的方法可以使得生成的轨迹更为精准。

While the hybrid input five - bar mechanism in the process of actual movement, constant veloc- ity motor will generate speed fluctuation, as a result terminal actuator will come out path error. An actual path synthesis method in consideration of hybrid input mechanism dynamics is proposed in order to generate much more accurate path. By means of five times spline functions interpolation method making the ideal path of servo motor second - order continuous, the dynamics model of hybrid input mechanism which in consideration of mo- tor dynamics is given, the calculation of the dynamics model is described, with the input of the servo motor as design variables to reduce the path error of end executor. Example simulation certifies that the path of the pro- posed method can generate more accurate path.