混合驱动六杆机构的轨迹特性及优化设计  

Path-Properties and Optimal Design of Hybrid-driven Six-Bar Meehanism

作　　者：王汝慧[1] 李瑞琴[1] 

机构地区：[1]中北大学机械工程与自动化学院,太原030051

出　　处：《机械设计与研究》2009年第2期40-43,51,共5页Machine Design And Research

摘　　要：混合驱动机构是一类多自由度机构,是一种柔性机械系统。它的基本思想是采用常规电机和伺服电机作为其动力源,常规电机为系统提供主要动力,伺服电机起运动调节作用,两种类型的输入运动通过一个多自由度机构合成后产生所需要的输出运动。本文首先对混合驱动六杆机构的轨迹进行了分析,然后又在混合驱动六杆机构逆运动学分析的基础上,以机构输出轨迹偏差最小建立目标函数,建立了实现给定轨迹的优化设计数学模型,通过对一个示例优化设计得到了混合驱动六杆机构的尺寸参数。Hybrid-driven mechanism is a kind of multi-degree of freedom mechanism. It is one of the flexible mechanical systems. The guideline of hybrid-driven machine adopts regular motors to provide main power and servo motors to adjust motion. The ＇two types of motion inputs are synthesized through a multi-degree of freedom motion mechanism and output the motion required. First, this paper describes path-properties about hybrid-driven six-bar mechanism. And then based on the inversc-kinematics analysis of the mathematical model the author sets up wity optimization for the given trajectory＇. The dimension paramclers of the hybrid-driven six-bar mechaoism are gained by an optimum design exdmple.

关 键 词：混合驱动 六杆机构 轨迹 优化设计 

分 类 号：TH112[机械工程—机械设计及理论]