一种具有可拓展性解空间的平面杆组机构运动综合方法

A Novel Motion Synthesis Approach with Enlargeable Error Space Allowance for Planar Linkages

基于克利福德代数中的运动学映射理论,提出了一种新的具有可拓展性解空间的平面杆组机构运动综合方法。针对无精确解或数学意义上的最优近似解不能满足实际需求的情况,该方法可以根据需要来扩大拟合误差容许范围,进一步拓展解空间,从而获得更多近似解。之后,从中选取最优的二杆组来组成四杆机构或并联机构,实现给定的运动位姿。

Using kinematic mapping theory in Clifford algebra, a new motion synthesis approach with enlargeable error space for planar linkages was proposed herein. This paper mainly focused on the situation when the given task yielded no exact solutions or the practical requirements that could not be realized by the mathematical optimal approximated solutions. By increasing error tolerance, the error space could be enlarged according to the requirements, thus more choices of approximated solutions could be introduced. After that, the optimal dyads may be selected to form a four-bar linkage or pla- nar parallel linkages so as to realize the given task motion.