摘要
研究了基于方位特征(POC)集方法的串联机构型综合的算法及其计算机自动化实现方法。建立了串联机构型综合的算法,提出了一种新的串联机构末端构件方位特征集移动/转动维数及方向的表述方法;详细说明了基于C语言的n-DOF串联机构型综合的算法及其程序自动实现过程;使用MATLAB设计该程序的界面,优化了该程序人机交互的友好性;以4-DOF串联机构型综合为例说明,该程序可自动生成理论上存在的10种1T3R、23种2T2R、85种3T1R串联机构构型。使用该程序进行串联机构型综合,仅需用户键入期望生成机构的方位特征集,即可自动生成符合预期要求的串联机构,操作简单、方便,具有较好的实用性。
The serial mechanism type synthesis algorithms and the computer automation imple- mentation were studied based on POC set. Firstly, the algorithm for serial mechanism type synthesis was established, and a new expression method for the dimensions and directions of the serial mecha- nism end-reactor＇s translations and rotations was proposed. This paper specifically described the processes on algorithm and automation implementation of n-DOF serial mechanism which were based on C language. Secondly, the program interface was completed by MATLAB which optimized the hu- man-computer interactions. Finally, using the 4-DOF serial mechanism type synthesis as an example, the program may automatically generate 10 kinds of 1T3R serial mechanisms, 23 kinds of 2T2R serial mechanisms and 85 kinds of 3T1R serial mechanisms. The users only needed to input the POC set of the mechanisms which they wanted to create, and then the program may automatically generate the results, this operation has good usability and universality.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2017年第7期813-822,共10页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51475050)
关键词
串联机构
方位特征集
计算机自动生成
拓扑结构设计
型综合
serial mechanism
position and orientation characteristics（POC） set
computer auto-matic generation
topology structure design
type synthesis
