实现任意复杂函数关系的混合输入可控五杆机构的设计

Design of the controllable five-bar mechanism with a hybrid input for generating arbitrary complex function relationships

研究的混合输入可控五杆机构有实时不可调速电机供给和实时可调速电机供给两种类型的输入.实时不可调速电机提供主要的动力,实时可调速电机则起辅助运动调节作用.在改变或不改变机构结构尺寸的条件下,通过控制辅助运动规律,可以实现传统机构不能实现的复杂函数运动规律.文中对此机构实现任意复杂函数关系的设计问题建立了数学模型,采用一种改进的遗传算法求得全局最优解,根据所得的最优解,通过控制辅助运动规律,该机构能够实现多种精确的函数关系,给出了设计实例.

The controllable five-bar mechanism has two types of inputs: one is supplied by a real time non-adjustable (RTNA) motor and the other by a real time adjustable (RTA) motor. The RTNA motor provides most of the driving power and the RTA motor acts as an auxiliary motion adjustable device. With or without changing the mechanism dimensions and by controlling the auxiliary motion, this mechanism can generate many function relationships that can not be realized by traditional linkages. A corresponding mathematical model is established for the design of the mechanism performing arbitrary complex function relationships. A modified genetic algorithm is used to obtain the global optimal solution. by controlling the auxiliary motion, the controllable five-bar mechanism can attain many kinds of exact function relationships. Some examples are given.