精确实现轨迹的五杆机构补偿运动局部特性优化设计

摘要

现有五杆机构逆运动求解优化模型往往以补偿驱动构件的总补偿最小为优化目标,而忽略了补偿运动的局部运动特性.现对RRRRR五杆机构进行了运动学分析,得出了逆运动解.在此基础上,以补偿运动伺服电动机转角最小为优化目标,分析了约束条件,建立了数学模型,应用遗传算法得出了全局最优解,并得到伺服电动机运动特性曲线.应用实例对方法进行实验论证.%In the existing optimazition models of five-bar mechanism based on inverse kinematics, the minimum of total compensation movement is often taken as objective function,but the local kinetic characteristic of compnesation movement is ignored. The kinematic characteristic of RRRRR five-bar mechanism is analyzed. The inverse kinematic solutions are deduced. Based on the solutions, the optimal objective is made to minimize the comer of servo motor. This paper also analyzes the constraint conditions, establishes the mathematic model, uses the genetic algorithm to obtain the global optimum solution and achieves the kinetic characteristic of servo motor. The arithmetic is demonstrated with example.