基于傅里叶描述子的耦合串联机构构型尺度融合设计

A Fourier Descriptor Based Approach to Integrated Type and Dimensional Synthesis of CSM

利用傅里叶变换方法,提出了耦合串联连杆机构的构型尺度融合设计方法,针对给定目标运动对其上各点的轨迹进行谐波分析,识别出包含最少数量谐波分量的最简轨迹,通过这些谐波分量的数量、幅值以及频率等特征信息便可反演得到耦合串联机构的拓扑结构特征和尺度参数信息,解决了耦合串联机构的运动综合问题,并给出了相应的算例证明所提方法的有效性。

With the aid of Fourier transform, a novel approach to integrated type and dimensional synthesis of CSM was proposed herein.Through the harmonic analysis of point trajectories from the given task motions,the simplest trajectory which contains the minimum number of harmonic components was identified.Then,characteristic informations of those harmonics such as number of terms,magnitude and frequency were used to determine the topological features and dimensional parameters of CSM,thus effectively solving the motion synthesis problems of CSM.Finally,examples were given to demonstrate the validity of the proposed method.