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首先建立混合输入五杆机构实现轨迹的运动学和动力学数学模型 ,然后根据这些模型及混合输入无条件三曲柄五杆机构不等式 ,建立基于可控马达功率最小的混合输入五杆机构实现变椭圆轨迹的优化综合模型。改进遗传算法保证获得全局最优解。综合实例结果表明混合输入五杆机构较开链二杆机构实现相同轨迹运动规律有明显的优点。
Firstly, the mathematical model of kinematics and dynamics of the trajectory of hybrid input five-bar mechanism is established. Then based on these models and the hybrid input unconditional tri-crank five-bar mechanism inequality, a hybrid input five-bar mechanism based on controllable motor power is established to realize the variable ellipse trajectory Optimization of the integrated model. Improved Genetic Algorithm to Ensure Global Optimization. The results of a comprehensive example show that the hybrid input five-bar mechanism has obvious advantages over the two-bar linkage with the same trajectory.