• CN:11-2187/TH
  • ISSN:0577-6686

›› 2007, Vol. 43 ›› Issue (11): 50-55.

• 论文 • 上一篇    下一篇

可调球面六杆机构轨迹综合

张均富;徐礼矩;王杰   

  1. 四川大学制造科学与工程学院
  • 发布日期:2007-11-15

SYNTHESIS OF ADJUSTABLE SPHERICAL SIX-BAR MECHANISMS FOR PATH GENERATION

ZHANG Junfu;XU Liju;WANG Jie   

  1. School of Manufacturing Science and Engineering, Sichuan University
  • Published:2007-11-15

摘要: 提出一种用于实现多任务的可调球面六杆StephensonⅢ型机构的轨迹优化综合方法。在研究球面六杆StephensonⅢ型机构轨迹综合的基础上,建立该可调球面六杆机构的多任务轨迹综合方程组,并分析可调球面六杆机构能实现的精确点数、任务数与综合时任选变量数之间的关系。为保证综合所得机构的主动构件能够作单向连续整周旋转和良好的传动质量,对机构的曲柄存在条件和传动角计算公式进行推导,建立球面可调机构综合的优化数学模型,并基于病毒进化遗传算法获取综合结果。病毒进化遗传算法将全局进化和局部进化动态结合,具有良好的收敛速度和收敛稳定性,保证了机构综合问题全局最优解的获取。数值实例验证了综合方法的有效性。

关键词: 病毒进化遗传算法, 轨迹综合, 可调机构, 球面六杆机构

Abstract: An optimal synthesis method of adjustable spherical Stephenson Ⅲ six-bar mechanisms for multi-path generation is put forward. Based on kinematic synthesis of spherical Stephenson Ⅲ six-bar mechanisms, a set of nonlinear equations of multi-path kinematic synthesis for adjustable spherical six-bar mechanisms is established. The relationship of the number of tasks, the number of coupler positions, and the number of arbitrary choice of parameter are analyzed. In order to make the crank be continuous rotation one-way and the mechanisms have good transmission quality, the condition of crank existing of the spherical Stephenson Ⅲ six-bar mechanisms is deduced, and the formula of transmission angle is derived. The mathematical model for optimization is presented, and a virus evolution genetic algorithm is utilized to obtain the global optimal solution. The virus evolution genetic algorithm has good convergence speed and convergence stability, which combines dynamically main group’s overall evolution with virus group’s local evolution. It can be ensureed to obtain the global optimal solution of the mechanism synthesis. A numerical example is given to illustrate the effectiveness of the proposed method.

Key words: Adjustable mechanisms, Path synthesis, Spherical six-bar mechanisms, Virus evolution genetic algorithm

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