混合驱动五杆机构轨迹生成及其影响因素研究  

Research on Curve Generation and Its Influence Factors of Hybrid Driven Five-Bar Linkage

作　　者：李鹏飞[1] 李仁军[1] 王昭[1] 刘宏昭[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,陕西西安710048

出　　处：《西安理工大学学报》2007年第3期225-229,共5页Journal of Xi'an University of Technology

基　　金：国家自然科学基金资助项目(50575180);陕西省自然科学基金资助项目(2005E201)

摘　　要：应用机构逆运动学分析方法,对混合驱动五杆机构复杂轨迹的生成及其影响因素进行了研究。在对设计的混合驱动五杆机构进行逆运动学分析基础上,确定了机构两原动件驱动电机的速度关系,仿真分析了原动件运动规律和初始位置变化对输出轨迹的影响,并进行了实验研究。将机构实测轨迹与理论轨迹进行比较,验证了混合驱动机构实现任意复杂轨迹的可行性。The curve generation and its influence factors of hybrid driven five-bar linkage are discussed on the basis of applying the inverse-kinematics analytical method. Based on the inverse-kinematics analysis of the given hybrid driven mechanism, the relationship between actuating motors is set up. The factors such as movement rules and different primary value of cranks effecting on the output curve are simulated. Related experiments are finished. Though comparing the measured curves with the theoretical curves, it shows that generation of randomly complicated curves to hybrid driven mechanism is feasible.

关 键 词：混合驱动机构 复杂轨迹生成 逆运动学分析 

分 类 号：TH122[机械工程—机械设计及理论]