基于符号映射的连杆机构运动学反求设计
首发时间:2007-05-15
摘要:为使机构在满足期望运动轨迹的基础上,进一步满足运动学要求,提出了基于符号映射(Symbol Mapping, SM)的连杆机构运动学反求设计方法。在拉氏坐标系中,将设计参数定义为符号,将输入参数定义为原象,通过符号映射得到期望目标的符号表达,再将期望目标转化为优化目标,通过优化算法进行求解,使设计参数由符号转化为数值,实现了连杆机构的运动学反求设计。以塑壳式低压断路器(MCCB)操动机构的开断角速度最快为期望目标,进行反求设计,平均角速度提高了9.46%,通过Simulink仿真,表明了反求设计结果的可行性和可靠性。基于符号映射的连杆机构运动学反求设计方法,有助于实现设计规则的知识重用和机构轨迹信息的深入挖掘,从而提高设计效率和产品质量,也可为类似机构设计与原型系统开发提供借鉴。
关键词: 符号映射 连杆机构 反求设计 低压断路器 Simulink
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A REVERSE KINEMATICS METHOD FOR DESIGNING LINKAGE MECHANISM BASED ON SYMBOL MAPPING
Abstract:To make the linkage mechanism further satisfy the kinematics requirements with the premise of meeting the desired motion locus, a reverse kinematics method for designing linkage mechanism based on symbol mapping is presented. In lagrangian coordinates, the design parameters are denoted as symbols and the input parameters are defined as inverse image. The desired goal can be expressed by the defined symbols through symbol mapping. The desired goal are then converted into the optimization goal and solved via optimization algorithm. The design parameters are converted from symbols to numeric values. Then the implementation of the kinematics reverse design of linkage mechanism is realized. We make the maximum break angular velocity of the manipulating mechanism of the low-voltage circuit breaker with plastic shell as the desired goal. The average angular velocity of the mechanism is increased by 9.46% through the reverse design. The designing results are proved feasible and reliable through simulink simulation. The method put forward helps the knowledge reuse of design law and information mining of motion locus which results in the improving of the design efficiency and product quality. The symbol mapping method can also be referenced for the similar mechanism design and prototype system development.
Keywords: Symbol Mapping Linkage Mechanism Reverse Design Low-voltage Circuit Breaker Simulink
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