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本文阐述柔性连杆机构的设计方法。 Khan及其合作者曾将优化指标法从结构设计领域移植到机构设计领域,来优化各杆截面积,使机构成为满应力的。Khan的递推公式在某些情况收敛不好甚致发散。本文对其递推公式提出了改进意见,获得了快速的收敛效果。本文将上述优化指标法和本文作者在另文中提出的运动改善法相结合而提出了一种全新的柔性连杆机构设计方法。在这种方法中各杆的截面参数被取做第一组设计变量,用前述优化指标法获得满应力机构;机构的几何参数被取做第二组设计变量,用运
This article describes the design of flexible linkages. Khan and his collaborators have ported the optimization indicator approach from structural design to institutional design to optimize the cross-sectional area of each rod and make the structure full of stress. Khan’s recursion formula does not converge well in some cases. In this paper, some suggestions for improving the recursion formula are given, and the fast convergence effect is obtained. In this paper, a new design method of flexible link mechanism is proposed by combining the above optimization index method and the motion improvement method proposed by the author in the other paper. In this method, the cross-sectional parameters of each rod are taken as the first group of design variables, and the full stress mechanism is obtained by using the aforementioned optimization index method. The geometric parameters of the mechanism are taken as the second group of design variables,