二自由度关节型空间开链机构轨迹综合的研究

在对关节型二自由度开链空间机构的末端轨迹分析过程中发现R－R开链空间机构是多输入单输出，其轨迹是一个复杂的空间闭合立体图形，很难直接进行轨迹的识别与综合等难题。针对以上的问题提出了利用Simmechanics仿真计算的方法得到其末端轨迹的点和轨迹图，通过形态学理论提取仿真模拟轨迹图像的特征参数，构建轨迹的电子图谱库。在设计R－R开链机构时应用模糊论将该机构的期望轨迹与已有轨迹进行匹配，从而反求出该空间开链机构的机构参数。最后给出应用实例验证该方法的可行性与优越性。

Study on Path Synthesis of 2 DOF Articulated Space Open Chain Mechanism

In analyzing the end point path of 2 DOF articulated space open chain mechanism, it is found that the path synthesis and recognition were very difficulty, because the path of the R-R mechanism was a close complex 3D figure and the mechanism had a characteristic of multi-input and single-output. Aiming at these problems, a new method was proposed which was simulation with calculation of using the Simmechanics to obtain path figure and record the end point trajectory. On the basis of these abstracted simulation of characteristic parameters of path figure, a path electronic database was created through the morphology theory. In design of the R-R mechanism, Fuzzy theory was used to match a desired patch with the trajectory existed of the mechanism, thereby, the parameters of space mechanism were reversely solved. In the end, an example is given to prove the feasibility and advantage of this method.