基于轨迹—速度双目标的平面连杆机构设计.pdfVIP

基于轨迹—速度双目标的平面连杆机构设计 郭卫东 王 鑫 (北京航空航天大学机械工程及自动化学院 北京 100191) 摘要：提出了一种在轨迹—速度双目标设计要求下优化综合连杆连续轨迹生成机构的方法。利用机构执行末端速度运动规律 寻求平面连杆轨迹生成机构插值节点，使所选取的插值节点具有了运动速度要求的信息。基于该方法建立连续轨迹生成机构优 化综合模型，以对应轨迹点差值最小作为优化目标函数，采用BFGS (Broyden-Fletcher-Gddfarb-Shanno)拟牛顿非线性优化算 法进行优化计算机构尺寸。在设定曲柄匀速转动前提下，优化计算出了符合轨迹—速度设计要求的平面连杆机构尺寸,实现了 预期的设计目标。在比较四杆机构和五杆机构实现实例优化结果的基础上，表明了该设计方法的可行性和有效性。 关键词：连杆曲线；轨迹综合；优化综合；优化算法 中图分类号：TH 112 文献标识码： A Planar linkage mechanism design for bi-objective of trajectory and velocity GUO Wei-dong WANG Xin (Robotics Institute, Beihang University, Beijing 100 191) Abstract: An optimal synthesis method of planar linkage mechanism for continuous path generation is put forward, which finds the interpolation nodes of planar linkage mechanism ’s trajectory generation mechanism, for bi-objective of trajectory and velocity. And the interpolation nodes are entrusted with the physical meaning of the velocity by this method. The optimal synthesis model is set up based on the minimization of the error between the path-generating point in the coupler curve and the prescribed position, while the nonlinear optimization algorithm of BFGS(Broyden-Fletcher-Gddfarb-Shanno) quasi-Newton is adopted to find the global optimum solution to approximate kinematic synthesis of planar linkage is proposed. With the uniform rotation of the crank, the optimization algorithm calculated the planar linkage mechanism satisfied the requirements of our bi-objective, and actualized our expectant target. By comparing the optimization results of four-bar mechanism and five-bar mechanism, it illustrates the validity and effectiveness of the proposed method. Key words: coupler curves; path synthesis; optimal synthesis; optimization algorithm 刚体导引机构、再现函数机构和再现轨迹机构 目标要求的平面连杆机构综合