机械运动方案设计的状态空间方法

提出了机械运动方案设计的状态空间方法,以基本变换单元为基础,建立了运动变换状态方程,提取了输入与输出特征矢量、运动传递函数与特征值,讨论了对偶矢量、状态变换矩阵及状态空间的性质,得到状态空间中运动变换特征矢量的运算规则,实现了把串联机械系统的运动方案设计问题转化为输入输出运动特征矢量在状态空间中的单环路径规划问题,通过状态空间中不同对偶点的连接方式可以获得相应的运动方案设计可行解,为机械运动方案设计提供一种新的有效方法。

NEW APPROACH TO AUTOMATED CONCEPTUAL DESIGN OF MECHANICAL SYSTEM BY MEANS OF STATE-SPACE

A new approach to automated conceptual design of mechanical system is presented by means of a state-space. At first, a state equation is set up according to the function of a basic mechanical unit transformed a motion between input and output terminal. Then, the input and output characteristic vectors and the state space matrices are defined by means of a state equation, which are corresponding to a certain basic mechanical unit, even composite one. The conceptual design can be extracted from the dimension design by the way. Secondly, the state space is established in terms of the set of all characteristic vectors for transformation units and whose properties are discussed, such as vectors plus, constant multiplying, reversible driving, zero vector as well as a state space matrices decomposable. However, the mathe-matic model is presented and the groundwork is laid for the conceptual design in the state space. Finally, an example is given to show the process of conceptual design in state space.