一种具有可拓展性解空间的平面杆组机构运动综合方法

摘要/Abstract

摘要：

基于克利福德代数中的运动学映射理论，提出了一种新的具有可拓展性解空间的平面杆组机构运动综合方法。针对无精确解或数学意义上的最优近似解不能满足实际需求的情况，该方法可以根据需要来扩大拟合误差容许范围，进一步拓展解空间，从而获得更多近似解。之后，从中选取最优的二杆组来组成四杆机构或并联机构，实现给定的运动位姿。

关键词: 机构运动综合, 可拓展误差空间, 平面杆组, 运动学映射

Abstract:

Using kinematic mapping theory in Clifford algebra, a new motion synthesis approach with enlargeable error space for planar linkages was proposed herein. This paper mainly focused on the situation when the given task yielded no exact solutions or the practical requirements that could not be realized by the mathematical optimal approximated solutions. By increasing error tolerance, the error space could be enlarged according to the requirements, thus more choices of approximated solutions could be introduced. After that, the optimal dyads may be selected to form a four-bar linkage or planar parallel linkages so as to realize the given task motion.

Key words: mechanism motion synthesis, enlargeable error space, planar linkage, kinematic mapping

中图分类号:

TG156

朱立红, 张良, 赵韩, 赵萍. 一种具有可拓展性解空间的平面杆组机构运动综合方法[J]. 中国机械工程, 2015, 26(19): 2590-2594,2600.

Zhu Lihong, Zhang Liang, Zhao Han, Zhao Ping. A Novel Motion Synthesis Approach with Enlargeable Error Space Allowance for Planar Linkages[J]. China Mechanical Engineering, 2015, 26(19): 2590-2594,2600.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: http://www.cmemo.org.cn/CN/

http://www.cmemo.org.cn/CN/Y2015/V26/I19/2590

参考文献

[1]Mruthyunjaya T S. Kinematic Structure of Mechanisms Revisited[J]. Mechanism and Machine Theory，2003， 38(4)：279-320．
[2]Freudenstein F，Dobrjanskyj L. On a Theory for the Type Synthesis of Mechanisms[A]//Applied Mechanics[M]. Berlin，Springer Heidelberg，1966：420-428．
[3]Erdman A G，Sandor G N. Mechanism Design：Analysis and Synthesis[M]. 3 ed. Upper Saddle River, N.J.： Prentice Hall，1997．
[4]Bottema O，Roth B. Theoretical Kinematics[M]. Amsterdam：North-Holland Pub. Co.，1979．
[5]Su H-J，McCarthy J M. Kinematic Synthesis of RPS Serial Chains[C]//ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference．Montreal, Quebec, Canada，2010：1041-1047．
[6]黄茂林，刘伟. 平面六杆高级机构高阶函数发生器的综合[J]. 机械工程学报，1990，26(5)：14-22．
Huang Maolin，Liu Wei. Optimum Synthesis of High Order Function Generators of the Planar Six Bar with High Class Mechanism[J]. Chinese Journal of Mechanical Engineering，1990，26(5)：14-22．
[7]蓝兆辉，邹慧君．基于轨迹局部特性的机构并行优化综合[J]．机械工程学报, 1999, 35(5):16-19．
Lan Zhaohui，Zou Huijun．Concurrent Optimum Synthesis of Path Generating Mechanisms Based on the Local Characteristics[J]. Chinese Journal of Mechanical Engineering，1999, 35(5):16-19．
[8]王知行，关立文，李建生．平面四杆机构综合数值比较法的研究[J]．机械工程学报，2000，36（2）：47-50．
Wang Zhixing，Guan Liwen，Li Jiansheng，et al. Study on Numerical Comparison Method for Planar Four-bar Linkage Synthesis[J]. Chinese Journal of Mechanical Engineering，2000，36（2）：47-50．
[9]周洪，邹慧君．基于机架杆方向结构误差优化综合曲柄摇杆连续轨迹生成机构[J]. 机械工程学报，2000，36 (5)： 42-45．
Zhou Hong，Zou Huijun. Optimal Synthesis of Crank-rocker Linkagese for Continuous Path Generation Using Orientational Structural Error of the Fixed Link[J]. Chinese Journal of Mechanical Engineering，2005，6 (5)：42-45．
[10]褚金奎，孙建伟．连杆机构尺度综合的谐波特征参数法[M]．北京：科学出版社，2010．
[11]黄真，赵永生，赵铁石．高等空间机构学[M]. 北京：高等教育出版社，2007．
[12]王德伦，王淑芬，李涛. 平面四杆机构近似运动综合的自适应方法[J]. 机械工程学报，2004，37（12）：21-26．
Wang Delun，Wang Shufen, Li Tao. New Approach Mechanisms Synthesis by Adaptive Saddle-fitting[J]. Chinese Journal of Mechanical Engineering，2004，37（12）：21-26．
[13]王淑芬. 机构运动综合的自适应理论与方法的研究[D]. 大连：大连理工大学，2006.
[14]Gao F，Li W，Zhao X，et al. New Kinematic Structures for 2-，3-，4-，and 5-DOF Parallel Manipulator Design[J]. Mechanism and Machine Theory，2006，37(11)：1395-1411．
[15]戴建生，丁希仑，王德伦. 一空间变胞机构的拓扑结构变换和对应的矩阵演算[J]. 机械工程学报，2005，41（8）：30-35．
Dai Jiansheng，Ding Xilun，Wang Delun. Topological Changes and the Corresponding Metrix Operations of a Spatial Metamorphic Mechanism[J]．Chinese Journal of Mechanical Engineering,2005，41（8）：30-35.
[16]Ge Q，Zhao P，Purwar A. Decomposition of Planar Burmester Problems Using Kinematic Mapping[J]. Mechanisms and Machine Science，2013，14：145-157.
[17]Ge Q J，Zhao P， Purwar A. A Novel Approach to Algebraic Fitting of a Pencil of Quadrics for Planar 4R Motion Synthesis[J]. J. Comput. & Infor. Sci. in Eng.，2012，12(4)：41-50．
[18]Zhao P，Purwar A，Ge Q J. On the Complete Synthesis of Finite Positions with Constraint Decomposition via Kinematic Mapping[C]//Proceedings of the 2014 ASME IDETC Conferences. Buffalo，NY，USA，2014：DETC2014-34216．