开内盒九杆二自由度机构轨迹控制寻迹算法

Trajectory Control Algorithm for Open Inner Box Nine-bar Two-DOF Mechanism

随着九杆二自由度机构在轻工、包装机械等设备中的广泛应用,研究其预定轨迹的寻迹算法显得尤其重要。以药品包装盒开内盒九杆二自由度机构为研究对象,将其转化为两种八杆单自由度机构,建立相应的运动分析数学模型;通过运动学仿真分析,获得两种八杆单自由度机构的运动区域,得到九杆二自由度机构的运动轨迹与运动范围;再在将机构与工艺轨迹参数化基础上,建立其约束条件,提出了九杆二自由度机构实现预定轨迹的寻迹算法,并通过寻迹算法获得开内盒九杆二自由度机构开内盒运动轨迹的原动件控制参数;最后,对寻迹算法进行完善,并应用获得的控制参数进行运动仿真,验证了寻迹算法的正确性。

With the extensive application of nine-bar two-DOF mechanism in light industry,packaging machinery and other equipment,it is particularly important to study the tracing algorithm to achieve the predetermined trajectory.Taking the medicine box with nine-barrel two-degree-of-freedom mechanism as the study object,it is transformed into two kinds of eight-degree single degrees of freedom mechanism,the mathematical model of motion analysis is established.Through the kinematics simulation analysis,the motion regions of two eight-bar single degree of freedom mechanism are obtained,and the trajectory and range of motion of the ninebar two degree of freedom mechanism are obtained.Then,based on the parameterization of the mechanism and the process trajectory,the constraint conditions are established,and the tracing algorithm of the nine-bar twodegree-of-freedom mechanism to achieve the predetermined trajectory is proposed.The tracing algorithm is used to obtain a nine-bar inner box motion trajectory of the original control parameters.Finally,the tracing algorithm is improved,and the motion parameters obtained by the control parameters are used to verify the accuracy of the tracing algorithm.