三自由度空间开链机构轨迹综合的研究

Study on Path Synthesis of 3 DOF Space Open Chain Mechanism

对三自由度关节型空间开链机构的末端点轨迹函数进行研究过程中,发现该空间机构尺寸参数与末端点轨迹函数的谐波特征参数存在内在联系。借助傅立叶级数理论对3R末端点轨迹函数提取特征参数,并在此基础上建立各种基本尺寸型在内的海量数值图谱库。在设计3R空间开链机构时先通过模糊识别理论对期望轨迹特征参数和图谱库中的特征参数进行模糊匹配,从而反求出该空间开链机构的机构参数。给出了空间三自由度关节型开链机构末端点轨迹综合的步骤,解决了3R机构的轨迹综合问题。最后通过Matlab仿真和实例证明了所提方法的有效性。

In studying the function of end point path of 3 DOF articulated space open chain mechanism,the inner link was found between the dimension parameter of the spatial mechanism and the harmonic characteristic parameters of the end point path function.By dint of fourier transform theory,the characteristic parameter of the 3R end point path function was extracted. On this basis,the mass numerical atlas database was built including all kinds of type bar length. In the design of 3R open-chain spatial mechanism,the characteristic parameter of expected path was fuzzy matched to the characteristic parameter of numerical atlas database,thereby to inversely get mechanism parameters of open-chain spatial mechanism by using fuzzy query theory. The step of the path synthesis of 3DOF articulated space open chain mechanism was given to solve the problem of 3R mechanism path synthesis. In the end,proving the method is effective by the simulation of Matlab and an example.