共查询到20条相似文献,搜索用时 187 毫秒
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平面四杆机构综合的模糊优化设计 总被引:1,自引:0,他引:1
根据现有平面四杆机构综合所存在的不足 ,提出了在设计中考虑各设计变量、约束条件的模糊性的优化设计方案 ,使从动件在原动件运动规律一定的条件下能准确地按一定规律运动。以曲柄摇杆机构综合为例 ,建立了其模糊优化设计 ,并给出了优化方法和结果分析。 相似文献
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针对多自由度机构控制较为复杂的问题,以平面五连杆机构为例,用新型MSP430单片机设计了一种轨迹控制系统,该轨迹控制系统可以实现三个主要功能;原动件按照指定规律运动、示教和轨迹输出。文章给出了单片机控制系统的原理及其结构。 相似文献
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以带移动副Ⅲ级六杆机构为例,采用降级法加以研究,改变Ⅲ级机构的原动件将其变为Ⅱ级机构,并用由此确定的机构极限位置为机构模型建立了带移动副的Ⅲ级六杆机构的有曲柄条件。 相似文献
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以带移动副 级六杆机构为例 ,采用降级法加以研究 ,改变 级机构的原动件将其变为 级机构 ,并用由此确定的机构极限位置为机构模型建立了带移动副的 级六杆机构的有曲柄条件。 相似文献
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以带移动副Ⅲ级六杆机构为例,采用降级法加以研究,改变Ⅲ级机构的原动件将其变为Ⅱ级机构,并用由此确定的机构极限位置为机构模型建立了带移动副的Ⅲ级六杆机构的有曲柄条件. 相似文献
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阿苏尔杆组理论指出,通过对不同运动链选取不同的机架和原动件,能够得到各种可能的阿苏尔杆组与机构构型。基于这一理论提出一种阿苏尔杆组的自动生成方法。针对杆组的结构特点,提出简单易行的杆组同构判别方法,该判别方法也适用于平面多杆机构运动链的同构判别。联合应用运动链的邻接矩阵与关联矩阵,使得自动生成算法与计算机编程相结合,实现了平面多杆机构杆组的自动生成。该自动生成机构杆组的方法理论简单,编程可操作性强,能够实现多杆运动链在构成机构时杆组的准确快速的拆分。该方法将杆组的拆分过程与由杆组搭接形成机构的过程相联系,对拆分得到的所有杆组与机构构型进行同构判别,得到了六杆以内的13种杆组,以及由八杆运动链构成的153种机构。 相似文献
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Nobuyuki Iwatsuki Takanori Kotte Koichi Morikawa 《Journal of Mechanical Science and Technology》2010,24(1):285-288
This paper describes the position and stiffness control of planar redundant link mechanisms with elastic elements in order
to utilize the flexibility of robots. Assigning both of the two-dimensional position and stiffness of an output link as an
output vector, the procedure of the forward kineto-static analysis for the planar redundant link mechanisms with elastic elements
is formulated. The mechanisms have elastic linearactuators composed of a coil spring and linearactuator and rotary actuators
and multi jointed links. An inverse kineto-static analysis to obtain the optimum input motions which can generate the desired
position and stiffness of the output link while taking into account the motion range of the linearactuator is also conducted
and applied to the optimum motion control of the mechanism. Several simulations and experiments with a prototype of a planar
closed-loop manipulator with 5 DOF and 4 output show the effectiveness of the proposed method. 相似文献
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This paper addresses the optimum dynamic balancing of planar parallel manipulators exemplified with a 2 DOF parallel manipulator articulated with revolute joints. The dynamic balancing is formulated as an optimisation problem such that while the shaking force balancing is accomplished through analytically obtained balancing constraints, an objective function based on the sensitivity analysis of shaking moment with respect to the position, velocity and acceleration of the links is used to minimise the shaking moment. Sets of optimisation results corresponding to various combinations of the elements of the objective function are evaluated in order to quantify their influence on the resulting shaking moment, ground forces and the driving torques. The results prove that the proposed optimisation approach can be used to completely eliminate the shaking force and to minimise the shaking moment transmitted to the frame of the parallel mechanism. For parallel manipulators or mechanisms with higher degrees of freedom, for which it is virtually impossible to obtain shaking force balancing conditions analytically, we propose an alternative constrained optimisation procedure. This procedure is based on the fact that while the magnitude of either the shaking force or the shaking moment can be bounded through including a set of constraints in the optimisation algorithm, the sensitivities of the other, either those of the shaking force or the shaking moment, can be minimised. 相似文献
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ON THE DYNAMIC MODELING AND CONTROL OF 2-DOF PLANAR PARALLEL MECHANISM WITH FLEXIBLE LINKS 总被引:1,自引:0,他引:1
Luo Lei Wang Shigang Mo Jinqiu Cai Jianguo School of Mechanical Engineering Shanghai Jiaotong University Shanghai China 《机械工程学报(英文版)》2005,18(1):112-117
The object of study is about dynamic modeling and control for a 2 degree-of-freedom (DOF) planar parallel mechanism (PM) with flexible links. The kinematic and dynamic equations are established according to the characteristics of mixed rigid and flexible structure. By using the singular perturbation approach (SPA), the model of the mechanism can be separated into slow and fast subsystems. Based on the feedback linearization theory and input shaping technique, the large scale rigid motion controller and the flexible link vibration controller can be designed separately to achieve fast and accurate positioning of the PM. 相似文献
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用计算机几何技术求解多自由度平面机构的运动 总被引:1,自引:0,他引:1
综合采用计算机辅助几何约束、尺寸约束、尺寸方程和尺寸驱动技术,构造一些典型的多自由度平面连杆模拟机构。给定每个输入件的驱动尺寸,确定输出件被驱动尺寸,求解输出运动杆件位姿。利用CAD软件的记录功能,得到机构输出杆件位姿数据。用Excel软件拟合位姿数据,得到每个输入件驱动尺寸与输出件被驱动尺寸位姿拟合曲线和拟合方程。求解了机构输出件的速度和加速度方程。计算机模拟结果表明,该方法简捷直观、求解精度高、重复性好,而且可以完成复杂机构和多自由度机构的运动分析,为机器人和复合运动机构的运动分析提供更有效的工具。 相似文献
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混合驱动平面五杆并联机构的工作空间研究 总被引:1,自引:1,他引:0
针对混合驱动平面五杆并联机构,首先,基于杆件封闭矢量方程,推导出机构工作点(x,y)与常速电机、伺服电机不同组合的转角输入的关系。其次,在机构符合混合驱动平面五杆机构构型的前提下,根据上面推导出的关系计算出工作点坐标,从而高效、精确地定位工作点。此外,应用Matlab软件编程实现了同一混合驱动下机构工作点不同装配角度α时的工作空间,直观地表达了工作点所能达到的范围。最后,考虑到无法避免机构构件的制造与装配误差,运用原始误差独立作用原理,定量地推导出误差对工作空间的影响,具有一定的实际意义。 相似文献
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分析了含有三个移动副和全为转动副的三自由度平面并联机构 ,当机构的结构参数对称时 ,其正解的个数为两个 ,并推导出该特殊结构尺度条件下机构的正解。进一步给出了算例。 相似文献
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L. Luo S. Wang J. Mo J. Cai 《The International Journal of Advanced Manufacturing Technology》2006,29(7-8):786-793
One of the key problems in high speed motion control of a flexible parallel mechanism (PM) is to damp out the mechanical vibration
arising from high inertial force acting on the linkages and other components. In this paper, the dynamic equations of a 2
degree-of-freedom (DOF) planar PM with flexible links are established by taking the singular perturbation approach (SPA).
Thus the model of the mechanism can be separated into slow time-scale and fast time-scale subsystems. Based on the feedback
linearization theory and input shaping technique, the large range rigid motion controller and the flexible link vibration
controller can be designed separately. A composite control with the two separate controllers can then be applied in the PM
to achieve the desired fast and accurate positioning. 相似文献
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The analysis of degrees of freedom(DOF) of a moving platform is the fundamental problem in kinematics of parallel mechanism. However, many problems should be considered to correctly perform the DOF cal... 相似文献
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提出了以四自由度1PS+4TPS型混联机构为主进给机构,辅以双向移动工作台实现多坐标数控加工的一种新型混联机床的布局设计方案。该混联机床方案中定平台通过4个结构完全相同的TPS驱动分支以及一个PS约束分支与动平台相联,动平台可以实现一维平动和三维转动,该方案具有可实现姿态角大、工作空间大等优点。对主进给机构进行了机构设计,推导出了主进给机构一、二阶运动影响系数矩阵,建立了主进给机构封闭形式的运动学方程。文中给出了运动学分析的数值实例。 相似文献