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对实现动臂—斗杆机构输出轨迹的混合驱动4R1P机构进行分析与优化设计。以预定轨迹和实现轨迹误差平方根为目标函数,通过逆运动学求解,设定约束条件,优化综合出一组4R1P机构结构尺寸以及滑块的输入规律。最后,以优化所得的结构尺寸及滑块运动规律来建立机构实体模型并进行运动仿真。仿真表明:机构构件之间的运动不存在运动干涉,没有出现驱动奇异,该优化结果具有有效性,混合驱动4R1P机构可以实现动臂-斗杆机构输出轨迹。
Analysis and Optimization Design of Hybrid 4R1P Mechanism with Boom - Stick Mechanism Output Trajectory. Taking the predetermined trajectory and the square root of the trajectory error as the objective function, through the inverse kinematics solution, the constraint conditions are set and a set of 4R1P mechanism structure size and the input rule of the slider are optimized. Finally, the physical structure model and the motion simulation are established by optimizing the structure size and the rule of the slider motion. The simulation results show that there is no motion interference between the components of the mechanism and there is no driving singularity. The optimization result is effective. The hybrid 4R1P mechanism can realize the output trajectory of the boom-arm mechanism.