连杆机构运动综合理论研究进展

Progress in Research on the Theory of Linkages for Kinematic Synthesis

连杆机构的运动综合方法分为直接法和间接法两大类,直接法又分为代数法和优化法。概述了代数法、优化法和间接法的研究进展。在代数法中,主要阐述了以吴文俊消元法为主的解析法和以Newton-Raphson迭代法、同伦迭代法为主的数值迭代法的研究现状。在优化法中,主要阐述了极大熵方法及现代智能算法的研究现状。在间接法中,主要阐述了基于数据库的搜索匹配方法及基于数值比较的逐次搜索方法的研究现状。最后,展望了连杆机构运动综合理论的发展趋势。

Kinematic synthesis approaches of linkages are classified as the direct synthesis method and indirect synthesis method. Furthermore, direct synthesis methods are classified as the algebraic method and the optimization method. A review focuses on progress of algebraic methods, optimization methods, and direct methods. In the algebraic method, research status of the analytic method, such as Wu’s method of elimination, and the numerical iteration method, such as Newton-Raphson iteration method and homotopy iteration method, has been mainly expounded. In the optimization method, research status of the maximum entropy method and the modern intelligence algorithm has been mainly expounded. In the indirectsynthesismethod, research status of the search matching approach based on database and the iterative search approach based on numerical comparison has been mainly expounded. Finally, developing trend of the theory of link mechanisms for kinematic synthesis is presented.