满足轨迹点速度要求的轨迹机构设计方法

提出基于机构执行末端速度运动规律在理想运动轨迹上选取给定轨迹点的方法,使所选取的轨迹点具有了速度的物理意义,基于该方法建立连续轨迹生成机构优化综合模型,以对应轨迹点差值最小为目标函数。应用matlab软件进行模型优化综合计算,计算得到符合运动轨迹和速度要求的连续轨迹生成机构,实现了预期的设计目标。综合实例结果说明了该优化设计方法的可行性和有效性。

Optimal Synthesis Method of Planar Linkage Mechanism for Continuous Path Generation Using the Law of Velocity

An optimal synthesis method of planar linkage mechanism for continuous path generation is put forward,which sets up the optimal synthesis model based on the trajectory dots chosen by the velocity law of the executing mechanism.The method makes the trajectory dots have the physical meaning of the velocity.Based on the optimal synthesis model,the nonlinear optimization algorithm provided by matlab is adopted;the calculated planar linkage mechanism is satisfied the requirement and the expectant target is actua...