基于GS法球面4杆机构5精确点轨迹综合  

Five Precision Points Path Synthesis of Spherical Four-Bar Linkage Based on GS Method

作　　者：魏锋[1,2] 魏世民[1] 张英[1] 李学刚[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876 [2]河南理工大学机械与动力工程学院,河南焦作454000

出　　处：《北京理工大学学报》2016年第8期789-794,共6页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(51375059);国家高新技术研究与发展计划资助项目(2011AA040203);粮食公益性行业科研专项资助项目(201313009-06);国家科技支撑计划课题资助项目(2013BAD17B06);科学研究与研究生培养共建项目-科研项目资助项目(机器人应用关键技术研究)

摘　　要：提出了球面4杆机构5精确点轨迹综合代数消元方法.基于球面空间转移矩阵建立了该问题的设计方程,使用Groebner基和Sylvester结式(GS法)相结合的代数方法进行求解,最终获得一元高次方程及其全部封闭解析解.通过数值实例,并使用Solidworks软件对计算结果进行仿真,结果表明该方法的正确性.该方法为进一步采用代数法对其他类型球面机构轨迹综合问题的研究提供了参考.An algebraic elimination method for five precision points path synthesis of spherical four-bar linkage was presented. Firstly, the kinematic constraint equations of path synthesis were formulated based on the displacement matrix And then, the equations were solved using Groebner-Sylvester （GS） hybrid approach, and a high degree univariate equation and its whole closed-form solutions were accordingly obtained. The results of numerical simulation with Solidworks validate the algorithm, and show that the proposed method can also be used to solve synthesis problems of other kinds of spherical linkages.

关 键 词：轨迹综合 球面4杆机构 代数法 GROEBNER基 Sylvester结式 

分 类 号：TH112[机械工程—机械设计及理论]