采用Matlab和误差函数法对轨迹生成四杆机构的优化及仿真

提出了一个修正的距离误差函数,主要是针对轨迹产生四杆机构的优化,并对优化结果进行仿真。首先,给出了轨迹生成四杆机构的设计变量,给出了所常用的基于欧几里得距离误差的误差函数。同时,对修正的距离误差函数公式进行推导,并由此推出了目标函数的表达式。其次,采取优化的方法得出最佳机构的设计变量参数值。最后,将优化结果的参数值导入到Matlab软件中进行仿真,并且与传统的欧几里得距离误差仿真结果进行了对比。误差仿真曲线表明,采用修正的距离误差函数对轨迹生成的四杆机构所产生的横向及纵向误差较小,效果良好,从而为轨迹生成四杆机构提供了新的研究方法。

Using Matlab and Error Function Method for Trajectory Generation Optimization and Simulation of Four-bar Mechanism

In this paper, firstly, the trajectory generation design variable four-bar mechanism is given, as well as the common error function based on Euclidean distance errors. Meanwhile, the distance error correction function formula can be derived, and thus obtaining the expression of the objective function. Secondly, the design variables optimization method parameter values obtained optimum mechanisms are adopted. And finally, the parameters of the optimization results are put into Matlab for simulation and are compared with the traditional Euclidean distance error simulation results. The simulation results show that the modified distance error function four-bar mechanism for trajectory generation generated horizontal and vertical error is small, and the effect is good, thereby generating four-bar mechanism to track provides a new research method.