实现特定要求轨迹的混合驱动五杆机构分析与优化设计  

Analysis and Optimization Design of a Hybrid-driven Mechanism for Realizing Defined Contrail

作　　者：尹志光[1] 莫锦秋[1] 梁庆华[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《轻工机械》2009年第1期42-45,共4页Light Industry Machinery

基　　金：国家自然科学基金资助项目(50705057)

摘　　要：文章对混合驱动五杆机构进行了运动学分析,推导了五杆机构的运动学逆解方程。根据上述的分析结果,以伺服驱动电机的速度波动最小为优化目标对实现点位和刚体方位要求的轨迹的进行优化设计。实现的轨迹与四杆机构实现的优化轨迹相比,更加精确,更加符合实际应用的要求。另外,还得到了伺服电机的运动规律曲线,为后续的控制和分析打下了坚实的基础。The kinematic characteristics of a hybrid-driven mechanism are kinematic analyzed. Equations of mverse kinematic are deduced. As a result, an optimization design has made to minimize the speed fluctuation of the servo-motor and realized optimization design of contrail which met both point and rigid body position demand which has realized defined contrail comparing to the four-linkage realizing contrail has more precision and practical application. The motion curve and drive moment of the servo-motor obtained will lay a solid foundation for realizing the comprehensive performance of the system as well as benefit for the motor choosing and the optimal control of the system in the next steps.

关 键 词：混合驱动 运动学分析 优化设计 

分 类 号：TH112.1[机械工程—机械设计及理论]