基于遗传算法的混合驱动铰链五杆机构的优化综合

摘要

Based on verse kinematics and dynamic static force analyzing,optimum synthesis of hy brid-driven hinged five-bar mechanism with preset track and better dynamic performance is realized accurately in two steps.Firstly,assuming that the servo-actuator and the general motor rotate at a constant speed,dimension synthesis for the five-bar mechanism is done. Secondly, the dimension parameters gained from the previous step should be invariant, while at the same time the power of the servo-actuator should maintain the minimum, and optimum synthesis for dynamic performance of the servo-actuator shall be done based on the motion characteristics of the actuator fitted by Bezier curve.Consequently, the example is given to illustrate the effectiveness of the synthesis.%在对铰链五杆机构进行正运动学及动态静力分析的基础上,采用遗传算法,分两步完成了精确实现给定轨迹且具有较好动力性能的混合驱动铰链五杆机构的优化综合.第一步:在假定伺服电机与常规电机匀速转动的前提下,进行五杆机构的尺度综合;第二步:保证第一步所得机构尺度参数不变,兼顾伺服电机的功率最小,运用Bezier曲线拟合伺服电机的运动规律,进行伺服电机动力性能的优化综合.给出的优化综合实例表明了该方法的有效性.