平面四杆机构刚体导引综合的小波特征参数法  

Wavelet Characteristic Parameter Method of a Planar Four-bar Mechanism Motion Generation Synthesis

作　　者：孙建伟[1] 王鹏[1] 刘文瑞[1] 褚金奎[2] SUN Jianwei;WANG Peng;LIU Wenrui;CHU Jinkui(School of Mechanical Engineering,Changchun University of Technology,Changchun,130012;Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education,Dalian University of Technology,Dalian,Liaoning,116023)

机构地区：[1]长春工业大学机电工程学院,长春130012 [2]大连理工大学精密与特种加工教育部重点实验室,大连116023

出　　处：《中国机械工程》2018年第6期688-695,共8页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51775054)

摘　　要：针对傅里叶级数理论不能进行非整周期刚体导引综合的问题,提出了基于Haar小波级数的解决方法,将早期提出的解决平面四杆机构轨迹综合问题的方法扩展到平面四杆机构的刚体导引综合中。通过对刚体转角和其对应基本尺寸型的连杆转角小波系数进行分析,发现了二者的内在联系。在此基础上建立了101 408组基本尺寸型的平面四杆机构刚体导引输出特征参数数据库。将位置输出问题转化为平面四杆机构轨迹综合问题,并给出了计算平面四杆机构实际尺寸和机构安装位置参数的理论公式。利用建立的数据库和理论公式,实现了平面四杆机构非整周期刚体导引综合。以生产线上的输送工件的铰链四杆机构为例,证明了本文方法的有效性和可行性。Aiming at the problems that the Fourier series theory could not be used to synthesize the non-integral periodic rigid body guidance problems,a method was presented to solve the problems based on Haar wavelet series,which extend the early methods solving the problems of planar four-bar path synthesis to motion generation synthesis.The wavelet coefficients between the rigid body rotation angles(RBRA)and the connecting rod rotation angles(CRRA)of its corresponding basic dimensional types were analyzed,the internal relationships were determined.Based on this finding,an output feature parameters database of planar four-bar motion generation including 101 408 sets of the basic dimensional types was established.The motion generation position output problems were transformed into a planar four-bar mechanism path synthesis problems,and the theoretical formulas were given to compute the actual size and installing position parameters of the mechanism.The non-integer-period motion generation synthesis of a planar four-bar mechanism was achieved using the established database and theoretical formulas.A four-bar mechanism for conveying workpieces on a production line was presented to illustrate the validity and practicality of the proposed theory.

关 键 词：刚体导引综合 数值图谱 平面四杆机构 小波系数 模糊识别 

分 类 号：TH122[机械工程—机械设计及理论]