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可重构单驱动3-RRR平面并联机构连杆曲线与姿态的数值解法 被引量:4
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作者 李庠 李瑞琴 +1 位作者 李辉 宁峰平 《兵工学报》 EI CAS CSCD 北大核心 2021年第5期1074-1082,共9页
针对3自由度3-RRR平面并联机构驱动与控制复杂、能耗大的问题,利用平行四边形运动链将其约束为单驱动3-RRR平面并联机构。通过数值解法计算单驱动3-RRR平面并联机构的连杆曲线与姿态,并分析重构对连杆曲线与姿态的影响。基于Freudenstei... 针对3自由度3-RRR平面并联机构驱动与控制复杂、能耗大的问题,利用平行四边形运动链将其约束为单驱动3-RRR平面并联机构。通过数值解法计算单驱动3-RRR平面并联机构的连杆曲线与姿态,并分析重构对连杆曲线与姿态的影响。基于Freudenstein方程推导该机构的输入-输出方程;采用迭代算法建立方程的数值求解方法;通过改变机构的初始输入角,提出一种机构构型的可重构方法。给出一组机构参数作为数值算例,求解得到机构的两种构型,称为构型Ⅰ和构型Ⅱ,以构型Ⅰ为算例,计算得到构型Ⅰ重构前后的连杆曲线与姿态随输入角变化的规律。结果表明:理论曲线与仿真曲线相吻合,验证了求解方法的正确性;重构能够显著改变构型Ⅰ连杆曲线与姿态。 展开更多
关键词 3-RRR平面并联机构 单驱动 输入-输出方程 可重构 连杆曲线
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ON THE ALGORITHMIC COMPLEXITY OF STATIC STRUCTURES
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作者 Joel RATSABY J. CHASKALOVIC 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2010年第6期1037-1053,共17页
This paper provides a first indication that this is true for a system comprised of a static structure described by hyperbolic partial differential equations and is subjected to an external random input force. The syst... This paper provides a first indication that this is true for a system comprised of a static structure described by hyperbolic partial differential equations and is subjected to an external random input force. The system deforms the randomness of an input force sequence in proportion to its algorithmic complexity. The authors demonstrate this by numerical analysis of a one-dimensional vibrating elastic solid (the system) on which we apply a maximally-random force sequence (input). The level of complexity of the system is controlled via external parameters. The output response is the field of displacements observed at several positions on the body. The algorithmic complexity and stochasticity of the resulting output displacement sequence is measured and compared against the complexity of the system. The results show that the higher the system complexity, the more random-deficient the output sequence. 展开更多
关键词 Data compression descriptional complexity RANDOMNESS static structure.
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