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提出了一种在轨迹-速度双目标设计要求下优化综合连杆连续轨迹生成机构的方法.利用机构执行末端速度运动规律寻求平面连杆轨迹生成机构插值节点,使所选取的插值节点具有了运动速度要求的信息.基于该方法建立连续轨迹生成机构优化综合模型,以对应轨迹点差值最小作为优化目标函数,采用BFGS(Broyden-Fletcher-Gddfarb-Shanno)拟牛顿非线性优化算法优化计算机构尺寸.在设定曲柄匀速转动前提下,优化计算出了符合轨迹-速度设计要求的平面连杆机构尺寸,实现了预期的设计目标.最后比较了四杆机构和五杆机构实现实例的优化结果,表明了该设计方法的可行性和有效性.
A method to optimize the integrated trajectory generation mechanism of the link under the requirement of trajectory-speed double-target design is proposed.It uses the mechanism to carry out the law of terminal velocity to seek the interpolating node of the trajectory of the plane link to make the selected interpolated node have the movement Based on the proposed method, the optimization model of continuous trajectory generation mechanism is established based on this method, and the minimum target trajectory point difference is taken as the optimization objective function. The BFGS (Broyden-Fletcher-Gddfarb-Shanno) quasi-Newton nonlinear optimization algorithm is used to optimize the calculation mechanism size In the premise of setting the crank constant rotation, the size of the plane linkage mechanism that meets the design requirements of trajectory - speed is optimized and the expected design goal is achieved.Finally, the optimization results of the four - bar mechanism and five - bar mechanism are compared, The feasibility and effectiveness of this design method are demonstrated.