摘要
基于Kane方法对混合驱动二自由度五杆机构建立了动力学方程,在此基础上进行了动力学逆问题的分析,探讨了影响主驱动功率和辅助驱动功率的因素.实现一组椭圆轨迹为实例,以混合驱动二自由度五杆机构辅助运动最大瞬时的驱动功率最小优化目标函数,无条件双曲柄的杆长条件约束条件,采用遗传算法进行了动力学优化设计,得到了主驱动功率与辅助驱动功率之间的最佳匹配关系.为实现混合驱动二自由度并联机构综合性能最优以及系统的最优控制了基础.
The mathematical model of the 2-DOF hybrid driven parallel five-bar mechanism has been set up by adopting the Kane-method. Based on the dynamics equation, the analysis of the inverse problem of the dynamics has been carried out and the factor that influences the main driving power and the auxiliary driving power has been discussed. With a group of ellipse trajectories as an example, the object function of the 2-DOF hybrid driven parallel mechanism with the 5-bar＇s taking the maximum instantaneous value of the auxiliary driving power as the minimum,and with the link length condition of the unconditional double crank as a constraint condition, the optimization design of dynamics has been processed by adopting the genetic algorithm. The best match relation between the power and the rotational speed of the main driving power and the auxiliary diving power has been obtained. This will lay the foundation for realizing the optimal comprehensive performance and the optimal control over the system.
出处
《西安建筑科技大学学报（自然科学版）》
CSCD
北大核心
2007年第3期429-432,共4页
Journal of Xi'an University of Architecture & Technology(Natural Science Edition)
关键词
二自由度并联机构
混合驱动
动力学
优化设计
the 2-DOF parallel mechanism
hybrid driven
dynamics
optimization design
