关键词: 弹簧连接刚性块拓扑模型, 复杂路径规划, 运动学拓扑, 机构分区

Abstract: Inverse design of mechanism topological configurations for complex paths has been a challenge in related fields. Currently, the spring-connected rigid block model SBM (Spring-connected rigid block mode) combined with topology optimization algorithm realizes the inverse design of multi-precision point path topology configuration with the work transfer efficiency as the objective function. However, when using the SBM model for mechanism design, there are problems such as unclear configuration of iteration results, low convergence speed, and poor synthesis ability of complex path mechanisms. Therefore, based on the SBM model, proposes a mechanism design method of zonal kinematic topology configuration facing complex path planning. In this method, the spring stiffness of the model is determined by binarization, and then the floating block is determined and the stiffness is cleaned according to the movement condition and constraint degree of the rigid block. Finally, the adjacency matrix graph theory is used to obtain the partition of the rigid block and the mechanism partition, which can realize the topology design of the mechanism under the complex path with large gradient changes. Through practical examples, it is shown that the proposed kinematic topology design method for partitioned mechanisms facing complex path planning can significantly improve the computational efficiency and adaptability to complex path planning while ensuring the path accuracy.

Key words: spring-connected rigid block models(SBM), complex path planning, kinematic topology, partitions of the mechanism