• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (9): 18-28.doi: 10.3901/JME.2019.09.018

• 机构学及机器人 • 上一篇    下一篇

基于小波特征参数的平面四杆机构轨迹综合方法

刘文瑞1, 孙建伟1,2, 褚金奎3   

  1. 1. 长春工业大学机电工程学院 长春 130012;
    2. 吉林大学工程仿生教育部重点实验室 长春 130022;
    3. 大连理工大学机械工程学院 大连 116024
  • 收稿日期:2018-08-22 修回日期:2018-12-08 出版日期:2019-05-05 发布日期:2019-05-05
  • 通讯作者: 孙建伟(通信作者),男,1979年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学、仿生机构学、连杆机构分析与综合。E-mail:avensun@tom.com
  • 作者简介:刘文瑞,男,1989年出生,博士研究生。主要研究方向为机器人机构学、连杆机构分析与综合。E-mail:wenruilv@126.com;褚金奎,男,1965年出生,博士,教授,博士研究生导师。主要研究方向为微机械电子系统、仿生微纳传感器与执行器、机器人机构学及CAD、智能机器人及微机器人。E-mail:chujk@dlut.edu.cn
  • 基金资助:
    国家自然科学基金资助项目(51775054)。

Synthesis Method for Path Generation of a Planar Four-bar Mechanism Based on the Wavelet Feature Parameters

LIU Wenrui1, SUN Jianwei1,2, CHU Jinkui3   

  1. 1. School of Mechatronic Engineering, Changchun University of Technology, Changchun 130012;
    2. Key Laboratory for Terrain-machine Bionics Engineering, Jilin University, Changchun 130022;
    3. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024
  • Received:2018-08-22 Revised:2018-12-08 Online:2019-05-05 Published:2019-05-05

摘要: 小波分解可以在不同尺度下对函数曲线的特征进行提取,基于该理论,首先,对平面四杆机构连杆轨迹曲线进行小波分解,利用归一化处理方法提取轨迹曲线的小波特征参数,给出了平面四杆机构连杆轨迹曲线的小波特征参数近似描述方法。进而结合数值图谱法,将11维非整周期轨迹综合问题转换为6维机构尺寸型检索问题,同时建立包含3 004 281 900组平面四杆机构的机构尺寸型数据库。根据轨迹曲线小波特征参数的特点,利用多维搜索树,将各相对转动区间内的机构尺寸型进行分区,建立索引关键字数据库。从而通过比较给定轨迹曲线小波特征参数与索引关键字,查找并提取目标机构所在叶子结点中机构尺寸型的小波特征参数,建立自适应图谱库。在此基础上,根据给定设计要求的小波特征参数与自适应图谱库中的小波特征参数的相似程度,检索出满足设计要求的机构尺寸型。再根据理论公式计算目标机构的实际尺寸及安装位置,实现平面四杆机构非预定相对转动区间轨迹综合问题的求解。最后,利用小波特征参数法对滚压包边设备的滚轮进给机构进行设计,验证本方法实用性和有效性的同时,为传统滚压包边提供新的思路。

关键词: 多维搜索树, 非整周期轨迹综合, 平面四杆机构, 小波特征参数, 自适应图谱库

Abstract: Wavelet function can extract the feature information of function curve in different scales. Based on the wavelet transform theory, a coupler curve generated by planar four-bar mechanism is decomposed to wavelet coefficients. A normalised process is proposed for extracting wavelet feature parameters. Then a description method for coupler curve of planar four-bar mechanism is established using wavelet feature parameters. The eleven dimensional open path synthesis problems are transformed to six basic dimensional types searching problems. A database is established, which contains 3 004 281 900 groups of dimensional types. The dimensional types are decomposed by using multidimensional search tree and an index keyword database is established. The leaf node which contains the desired mechanism can be obtained. A self-adaptive atlas database is established. Based on the design requirements, the desired mechanism can be obtained by comparing the similarity of wavelet feature parameters between the prescribed curve and the coupler curve in the self-adaptive atlas database. According to the internal relationship of wavelet coefficients, the actual sizes and installation positions of the desired linkage can be calculated. The arbitrary relative rotation interval open path synthesis is realized. Two examples are presented to demonstrate the effectiveness of the method proposed. Particularly, a roller feed mechanism for roller hemming is designed and manufactured to verify the validity and practicality of this method. The design results provide new ideas for the roller hemming.

Key words: multidimensional search tree, open path synthesis, planar four-bar mechanism, self-adaptive atlas database, wavelet feature parameters

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