圆柱型空间缩放机构用于步行机构时的优化设计

OPTIMAL DESIGN OF CYLINDRICAL THREE-DIMENSIONAL PANTOGRAPH MECHANISM USED AS WALKING MECHANISM

空间缩放机构由于在其运动主平面内的运动解耦性,被用作步行机构.本文作者认为圆柱型空间缩放机构用作步行机构有许多有利的方面.文中讨论了将该机构用于步行机构时机构运动的约束条件,对机构在有约束条件下进行了优化处理.设计出旨在具有最大运动空间的有约束的优化机构,并将此优化结果用于实际模型的设计.

Three-dimensional pantograph mechanism was used as walking mechanisms because of the motionaldecoupling at its principal planes.There are many favourable respects when cylindrical three-dimensionalpantograph mechanism is used as a walking mechanism.In this paper,the motional constrained conditionsof the mechanism used as walking mechanism are studied.The mechanism was optimally designed on theconstrained conditions.The constrained optimal mechanism with the largest motional space was obtained.The optimal result was used to an actual prototype.