基于树结构的平面连杆机构运动学数值逆解  

Kinematic numerical valued inverse solution of planar linkage mechanism based on tree structure

作　　者：罗贤海[1] 翁海珊[2] 庞果[1] 

机构地区：[1]景德镇陶瓷学院机电学院,江西景德镇333403 [2]北京科技大学机械工程学院,北京100083

出　　处：《机械设计》2009年第12期42-45,共4页Journal of Machine Design

摘　　要：分析了平面连杆机构运动学逆解问题的复杂性,根据平面连杆机构的树结构表达方法,利用树结构的遍历算法并结合无约束优化方法,将运动学逆解问题分解为每个时间步的正解逼近,从而克服了运动学逆解复杂的运动路线生成问题,形成了自动求解平面连杆机构运动学逆问题的一种通用数值方法,该方法对任意指定的原动件的平面连杆机构运动分析也适用,数值算例表明该方法的有效性。The complexity of kinematic inverse solution problems of planar linkage mechanism has been analyzed. According to the tree structure expression method of planar linkage mechanism, utilizing the transversal algorithm of tree structure and combining with the nourestraint optimization method, let the kinematic inverse solution problem be decomposed as forward solution approach of every time step, thus overcame the complicated motion route generative problems of kinematic inverse solution and formed a kind of universal numerical method for solving automatically the kinematic inverse problem of planar linkage mechanism. This method was also applicable to the motion analysis of planar linkage mechanism of arbitrary designated motivity member. A numerical calculation example indicated the effectiveness of this method.

关 键 词：平面连杆机构 树结构 正解逼近 运动学逆解 

分 类 号：TH112.1[机械工程—机械设计及理论]