混合驱动五杆机构的轨迹规划

Optimization in Path Generation for the Hybrid Five-Bar Mechanism

研究了混合驱动五杆机构的轨迹规划 ,使伺服电机在运动过程中所需扭矩的最大值为最小 .通过对混合驱动五杆机构动力学的分析 ,得到饲服电机的扭矩表达式 ,在满足速度和加速度连续的情况下 ,对其参数进行了优化 。

This article presented a theory to solve the path generation of the hybrid five bar mechanism. Based on dynamic analysis of the five bar mechanism through the optimal method, which can keep the maximum torque of the servo motor to be minimum in the path generation, the torque equations of servomotor is obtained. While the velocity and the acceleration are kept continuous, the parameters are optimized and the satisfied trajectory can be got.