Simulation method for movement process of plane closed-loop linkage mechanism

Abstract

The invention discloses a simulation method for a movement process of a plane closed-loop linkage mechanism, comprising: step 1, ensuring driving variables and initial and final values of the plane closed-loop linkage mechanism, and giving the increment size of the driving variables; step 2, calculating a free degree of a configuration of the plane closed-loop linkage mechanism and determining whether or not the free degree leads to a bifurcation point of the movement path. If the free degree is 1, go to step 3, otherwise, go to step 5; step 3, getting a forecast configuration of the plane closed-loop linkage mechanism after an incremental step by using a singular value decomposition method; step 4, determining whether the error of the forecast configuration is zero and correcting the forecast configuration; and step 5, selecting the bifurcation point movement path using a second-order method. The simulation method for the movement process of the plane closed-loop linkage mechanism can not only simulate the normal movement process of the plane closed-loop linkage mechanism, but also step over the bifurcation point of the movement path and select different paths getting out of the bifurcation point according to the wishes of the designers, being able to be widely used in the movement process analysis of various plane closed-loop linkage mechanisms.

Description

technical field [0001] The invention relates to a motion simulation method of a plane closed-loop linkage mechanism, which belongs to the field of design and analysis of movable systems and linkage mechanisms. Background technique [0002] Motion process simulation is the core work of mechanism system design. Under the influence of traditional theories, one way of thinking is to regard this kind of mechanism analysis problem as a special structural analysis problem involving rigid body displacement, and introduce some methods that can deal with stiffness in conventional structural analysis methods (mainly finite element method). Mathematical strategies for matrix singularity are used to solve rigid body displacements, such as the "generalized inverse" method. However, the shape change of the mechanism movement process mainly comes from the contribution of the rigid body displacement, and the occurrence conditions of the rigid body displacement and its motion path are only d...

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Problems solved by technology

However, when the general method simulates the movement process of the linkage mechanism, when the mechanism moves to the bifurcation point, the simulation will have pathological or even wrong results.

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