Planar linkage mechanism design for bi-objective of trajectory and velocity
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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.最后比较了四杆机构和五杆机构实现实例的优化结果,表明了该设计方法的可行性和有效性.Abstract: An optimal synthesis method of planar linkage mechanism for continuous path generation was put forward, which would find the interpolation nodes of planar linkage mechanism-s trajectory generation mechanism, for bi-objective of trajectory and velocity. The interpolation nodes were entrusted with the physical meaning of the velocity by this method. The optimal synthesis model was 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 was adopted to find the global optimum solution to approximate kinematic synthesis of planar linkage. With the uniform rotation of the crank, the optimization algorithm calculated the planar linkage mechanism, satisfied the requirements of our bi-objective, and actualized the expectant target. The validity and effectiveness of the proposed method were illustrated by comparing the optimization results of four-bar mechanism and five-bar mechanism.
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Key words:
- coupler curves /
- path synthesis /
- optimal synthesis /
- optimization algorithm
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