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本文主要以 RRRSR 机构(R 表示转动副,S 表示球面副)为例,进行了单封闭空间五杆函数生成机构的误差分析及多目标优化综合。文中主要应用方向余弦矩阵通过利用机构封闭性的各种几何等同条件建立的输入输出方程式和一系列线性方程组简捷地进行了机构误差分析。其中着重讨论了以布尔斯特—牛顿联合迭代法求解机构的全部运动参数以及用单示力副法进行的机构受力分析,并以 R—R双动杆为数值例验证了所采用的误差分析方法。在机构误差统计分析基础上进行的多目标优化综合中主要探讨了目标函数与相应的性能约束方程的建立。为便于在计算机上实现,全部误差分析和综合过程都被转化为参量的程序设计问题。
In this paper, the error analysis and multi-objective optimization synthesis of a five-bar function generating mechanism in a single closed space are mainly carried out by taking the RRRSR mechanism (R as turning pair and S as spherical pair) as an example. In this paper, the direction cosine matrix is mainly applied to the mechanism error analysis by using the input-output equations and a series of linear equations established by various geometrical equivalent conditions of mechanism closure. This paper mainly discusses the combination of the Bulster-Newton iterative method to solve all the kinematic parameters of the mechanism and the mechanics analysis of the mechanism by using the single-force method. The R-R double-acting rod is used as a numerical example to verify the error Analytical method. In the multi-objective optimization synthesis based on the statistical analysis of the mechanism error, the establishment of the objective function and the corresponding performance constraint equation are mainly discussed. For ease of implementation on the computer, all error analysis and synthesis processes are translated into parametric programming problems.