Comparison point acquisition method for track integration of connecting rod mechanism
A technology of connecting rod mechanism and acquisition method, which is applied in the direction of mechanical equipment, combustion engine, internal combustion piston engine, etc., and can solve problems such as poor performance, sequence defects, optimization errors, local optimal solutions, etc.
Active Publication Date: 2022-02-15
WUHAN UNIV OF SCI & TECH
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However, this method also loses the means to constrain the order of appearance of comparison points on the output trajectory of the connecting rod, resulting in the inconsistency between the corresponding order of obtained comparison points and target points and the order of appearance of comparison points on the generated trajectory, resulting in The optimization gets stuck in a wrong local optimum, and ends up generating a poorly performing linkage solution with sequential flaws
Therefore, the reliability of this optimization model purely based on the closest point search is insufficient
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[0061] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0062] as attached figure 1 As shown, the present invention provides a comparison point acquisition method for linkage mechanism trajectory synthesis, which includes six steps: kinematic modeling, sampling, preprocessing, curve segmentation, closest point search, postprocessing, and calculation of structural errors.
[0063] Step 1: Kinematic Modeling
[0064] Establish the kinematics forward solution equation of the linkage mechanism, which can be expressed as the following formula:
[0065] P=f(X,φ)
[0066] Among them, the link mechanism refers to any link solution in the iterative process of trajectory synthesis optimization. In addition, the mechanism used for trajectory synthesis generally refers to the single-degree-of-freedom linkage mechanism.
[0067] In the formula, X represents the independent design variable of the planar linka...
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The invention discloses a comparison point acquisition method for tracking error calculation in link mechanism track synthesis based on curve segmentation. The method comprises the following steps: establishing a kinematics positive solution equation of a link mechanism; setting a sampling amount, and sampling an output track of the connecting rod mechanism; preprocessing the initial output point sequence and the initial target point sequence; segmenting the preprocessed sequencing output point sequence into a certain number of subsequences by using a curve segmentation algorithm; searching a point closest to the corresponding target point in each sub-sequence to obtain a sequencing comparison point sequence; performing corresponding post-processing on the sequencing target point sequence and the sequencing comparison point sequence; and calculating the tracking error of the link mechanism. Compared with other comparison point acquisition methods, the method does not need to add a crank angle as an optimization variable, and the constraint condition does not include a sequence condition of the crank angle. Therefore, the method is more likely to obtain an excellent connecting rod solution in the optimization process.
Description
technical field [0001] The invention relates to the field of link mechanism design, in particular to a comparison point acquisition method for track synthesis of link mechanisms. Background technique [0002] As one of the strategic emerging industries, the high-end equipment manufacturing industry mainly includes five subdivisions of aviation industry, satellite and application industry, rail transportation equipment industry, ocean engineering equipment and intelligent manufacturing equipment. In the future, China's high-end equipment manufacturing industry will usher in golden growth and become an important pillar industry of the national economy. [0003] The link mechanism is a common transmission mechanism in machinery, mainly used for the transmission of motion. With the development needs of automation and high precision, the high-end equipment manufacturing industry urgently needs various linkage mechanisms with simple structure and stable output, such as the liftin...
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IPC IPC(8): G06F30/20G06F30/17
CPCG06F30/20G06F30/17Y02T10/40
Inventor 王兴东姚新远杨雅伦刘胜利董浩哲张林康特方军朱俊龙王紫阳郑帅
Owner WUHAN UNIV OF SCI & TECH