六杆机构的双目标轨迹综合与运动分析
Synthesis and Kinematic Analysis for Bi-objective Path of Six-bar Linkage
- 机械传动 2020年44卷第12期 页码：73-79
- 作者机构：
1.郑州轻工业大学 机电工程学院， 河南 郑州 450002
- 作者简介：
崔光珍（1988— ），女，河南新乡人，博士，讲师，主要研究方向为机构综合与分析理论、机构CAD。
- 基金信息：国家自然科学基金(51805490┫河南省重大科技创新引领专项┣191110210100)
DOI：10.16578/j.issn.1004.2539.2020.12.012
中图分类号：
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崔光珍,肖艳秋,王才东等.六杆机构的双目标轨迹综合与运动分析[J].机械传动,2020,44(12):73-79.
Cui Guangzhen,Xiao Yanqiu,Wang Caidong,et al.Synthesis and Kinematic Analysis for Bi-objective Path of Six-bar Linkage[J].Journal of Mechanical Transmission,2020,44(12):73-79.
崔光珍,肖艳秋,王才东等.六杆机构的双目标轨迹综合与运动分析[J].机械传动,2020,44(12):73-79. DOI： 10.16578/j.issn.1004.2539.2020.12.012.
Cui Guangzhen,Xiao Yanqiu,Wang Caidong,et al.Synthesis and Kinematic Analysis for Bi-objective Path of Six-bar Linkage[J].Journal of Mechanical Transmission,2020,44(12):73-79. DOI： 10.16578/j.issn.1004.2539.2020.12.012.
摘要
六杆机构是一种被广泛应用的机构，为保证机构设计精度，提高设计效率，给出了六杆机构双目标轨迹综合与分析一体化设计方法。首先，建立六杆机构轨迹综合方程，分析得出该六杆机构双目标轨迹综合最多可实现给定5位置的精确轨迹综合。然后，为实现综合方程的高效精确求解，引入再生同伦算法，克服了代数求解消元难、近似求解初值选择难的问题。为筛选出综合所得机构中具有实际工程应用价值的机构，基于2R杆组叉积符合开展了六杆机构运动缺陷判定，建立六杆机构环路方程进行运动学分析。最后，以残障者移位机开合机构设计示例，验证所提理论与方法的正确性与有效性。
Abstract
Six-bar linkages have a wide range application in industry and daily life. To ensure the design accuracy and improve design efficiency，an integrated design method of synthesis and analysis for bi-objective path of six-bar linkages is put forward. Firstly，based on the set of nonlinear equations of bi-objective path for six-bar linkage，five general precision points is the largest number that can be achieved precision bi-objective path of six-bar linkage. Then，the regeneration homotopy algorithm is used to reach the fast solution of the synthesis equations，this algorithm is easy and does not involve the complex elimination process and the problem of selecting the initial value. In order to screen out the mechanism with practical engineering application value in the synthesized mechanism，the motion defect determination of six-bar mechanism is carried out based on the 2R Assur group cross product coincidence，the kinematics analysis of the loop equation of the six-bar mechanism is established. Finally，the example of opening-closing linkage for patient rehabilitation transfer device verifies the correctness and effectiveness of the proposed theory and methodologies.
关键词
六杆机构轨迹综合再生同伦算法运动分析
Keywords
Six-bar linkagePath synthesisRegeneration homotopy algorithmKinematic analysis
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