基于二分法的平面运动链数综合
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摘要
简要论述了运动链型综合和数综合的成果,使用运动链特征值组合作为数综合结果标记,对运动链的结构特征进行了分析归纳,获得了多个特征参数表达式。在分析运动链特征值表达式基础上,分析论证了运动链中多元构件或复铰数、二元构件数、关键点数等的取值范围。在上述分析基础上,提出了基于二分法的的平面运动链数综合方法,以较高的计算效率获得了4-15构件的含复铰的所有数综合结果,并举例分析了数综合结果的有效性。上述成果为数字化的运动链型综合提供了必要的信息。
The results of structure synthesis and number synthesis of kinematic chain( KC) brieflydiscussed,a combination of kinematic chain characteristic value is used to mark the result of number synthesis.Based on the analysis of KC characteristic value,several equations with KC parameters are deduced. analyzed the data rang of multiple components or multiple joints、binary component and the key points and so on. Then the number synthesis method of planar KC Based on the dichotomy is proposed,with high computing efficiency,all the number synthesis results for 4-15 links with multiple joints are obtained,and then some samples are listed to analyze the effectiveness of the number synthesis results. The above results of number synthesis of KC provides the necessary information for later structure synthesis of KC.
The results of structure synthesis and number synthesis of kinematic chain( KC) brieflydiscussed,a combination of kinematic chain characteristic value is used to mark the result of number synthesis.Based on the analysis of KC characteristic value,several equations with KC parameters are deduced. analyzed the data rang of multiple components or multiple joints、binary component and the key points and so on. Then the number synthesis method of planar KC Based on the dichotomy is proposed,with high computing efficiency,all the number synthesis results for 4-15 links with multiple joints are obtained,and then some samples are listed to analyze the effectiveness of the number synthesis results. The above results of number synthesis of KC provides the necessary information for later structure synthesis of KC.
引文
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[14]孙亮波,孔建益,廖汉元,等.基于杆组特征值判别和创新机构的拓扑图方法[J].机械科学与技术,2012,31(8):72-75.
[15]孙亮波,孔建益,廖汉元,等.N杆Assur杆组构型综合图谱库研究[J].机械传动,2013(4):15-22.
[2]黄真,丁华锋.机构的结构类型综合综述[J].燕山大学学报,2003,27(3):189-192.
[3]YAN H S,CHIU Y T.An improved algorithm for the construction of generalized kinematic chains[J].Mechanism&Machine Theory,2014,62(4):75-98.
[4]杨益,宋爱平,郭伟,等.单自由度八连杆机构链型的拓扑特性研究[J].机械工程与自动化,2014(2):96-98.
[5]樊维发,员平利.二自由度平面运动链之型综合[J].纺织高校基础科学学报,1996(3):284-289.
[6]王英,李瑞琴,宋胜涛.平面三自由度连杆机构的型综合[J].机械传动,2014(7):60-62.
[7]DING H,ZI B,HUANG P,et al.The whole family of kinematic structures for planar 2-and 3-DOF fractionated kinematic chains[J].Mechanism&Machine Theory,2013,70(6):74-90.
[8]罗金良,黄茂林,文群.自适应运动链的构型综合及应用研究[J].机械设计与研究,2006,22(5):33-36.
[9]POZHBELKO V,ERMOSHINA E.Number structural synthesis and enumeration process of all possible sets of multiple joints for 1-DOF up to 5-loop 12-link mechanisms on base of new mobility equation[J].Mechanism&Machine Theory,2015,90:108-127.
[10]CROSSLEY F R E.A contribution to gruebler’s theory in the number synthesis of plane mechanisms[J].Journal of Engineering for Industry,1964,86(1):48-50.
[11]蒙运红,吴昌林.机构运动链构型创新设计方法的研究[J].中国机械工程,2004,15(23):2088-2091.
[12]DING H,YANG W,HUANG P,et al.Automatic structural synthesis of planar multiple joint kinematic chains[J].Journal of Mechanical Design,2013,135(9):942-955.
[13]BUTCHER E A,HARTMAN C.Efficient enumeration and hierarchical classification of planar simple-jointed kinematic chains:Application to 12-and 14-bar single degree-of-freedom chains[J].Mechanism&Machine Theory,2005,40(9):1030-1050.
[14]孙亮波,孔建益,廖汉元,等.基于杆组特征值判别和创新机构的拓扑图方法[J].机械科学与技术,2012,31(8):72-75.
[15]孙亮波,孔建益,廖汉元,等.N杆Assur杆组构型综合图谱库研究[J].机械传动,2013(4):15-22.