复杂路径规划的机构分区运动学拓扑构型设计

Kinematic Topological Configuration Design of Mechanism Partitions for Complex Path Planning

复杂路径规划的机构拓扑构型设计一直是行业的难题。目前,基于弹簧连接刚性块模型(Spring-connectedrigidblock mode,SBM)的拓扑优化算法,以功传递效率为目标函数,可以实现了多精度点路径拓扑构型设计反求。然而,传统SBM模型进行机构设计时,存在迭代结果构型不清晰、收敛速度低、复杂路径机构合成能力较差等问题。因此,在SBM模型的基础上提出了复杂路径规划的机构分区运动学拓扑构型设计方法。该方法首先对模型的弹簧刚度进行二值化判定,然后根据刚性块的运动情况以及约束度进行浮动块判定和刚度清理,最后再使用邻接矩阵图论的方法获得刚性块组的划分以及机构分区,从而实现大梯度变化复杂路径下对机构拓扑构型设计。通过实际的算例表明,面向复杂路径规划的机构分区运动学拓扑构型设计方法在保证路径精度的前提下,能显著提升计算效率与适应复杂路径规划的能力。

Inverse design of mechanism topological configurations for complex paths has been a challenge in related fields.Currently,the spring-connected rigid block model SBM(Spring-connected rigid block mode)combined with topology optimization algorithm realizes the inverse design of multi-precision point path topology configuration with the work transfer efficiency as the objective function.However,when using the SBM model for mechanism design,there are problems such as unclear configuration of iteration results,low convergence speed,and poor synthesis ability of complex path mechanisms.Therefore,based on the SBM model,proposes a mechanism design method of zonal kinematic topology configuration facing complex path planning.In this method,the spring stiffness of the model is determined by binarization,and then the floating block is determined and the stiffness is cleaned according to the movement condition and constraint degree of the rigid block.Finally,the adjacency matrix graph theory is used to obtain the partition of the rigid block and the mechanism partition,which can realize the topology design of the mechanism under the complex path with large gradient changes.Through practical examples,it is shown that the proposed kinematic topology design method for partitioned mechanisms facing complex path planning can significantly improve the computational efficiency and adaptability to complex path planning while ensuring the path accuracy.