摘要
从运动学观点出发 ,通过实时改变曲柄滑块机构输入曲柄的角速度 ,可使滑块的输出运动满足特定的要求 ,使该机构在结构不变的情况下能满足多种任务需要 .给出了伺服输入曲柄滑块机构的控制模型 ,将计算几何中的Bezier曲线作为输入曲柄的运动轨线 ,建立了优化数学模型 ,采用一种改进的遗传算法进行求解 .根据所得的最优解控制伺服电机 ,使输入曲柄的速度按需要改变 ,可以获得希望的输出运动规律 .
This paper presents, from the kinematic point of view, an approach by varying the crank's speed real-time of the slider-crank mechanism to obtain the desired output motion. Without changing the dimensions of the mechanism, designers can use a slider-crank mechanism for performing various tasks. A control model of the slider-crank mechanism with the variable input speed is developed. The input motion characteristics are planned with Bezier curves of the computational geometry. An optimization model is established and a modified genetic algorithm is utilized to obtain the global optimal solution. Then the output motion can pass through a desired trajectory by controlling the servomotor to drive the input link of the mechanism along the derived speed trajectory. Three examples are given to verify the effectiveness of the proposed method.
出处
《西安电子科技大学学报》
EI
CAS
CSCD
北大核心
2002年第3期415-418,共4页
Journal of Xidian University
基金
西安电子科技大学青年科研工作站资助
关键词
伺服输入
曲柄滑块
控制模型
BEZIER曲线
可控机构
轨迹
slider-crank mechanism with variable input speed
control model
Bezier curve
controllable mechanisms
