A Method for Obtaining Comparison Points for Trajectory Synthesis of Linkage Mechanism
A technology of connecting rod mechanism and acquisition method, applied in mechanical equipment, combustion engine, internal combustion piston engine, etc., can solve problems such as poor performance, insufficient reliability of optimization model, and inconsistent sequence.
Active Publication Date: 2022-03-22
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 the track synthesis of the link mechanism based on curve segmentation for track synthesis of the link mechanism, comprising the following steps: establishing the kinematics positive solution equation of the link mechanism; setting sampling Sampling the output trajectory of the linkage mechanism; performing corresponding preprocessing on the initial output point sequence and the initial target point sequence; using the curve segmentation algorithm to divide the preprocessed sequenced output point sequence into a certain number of subsequences ; Find the point closest to the corresponding target point in each subsequence, and obtain the sequence comparison point sequence; perform corresponding post-processing on the sequence target point sequence and the sequence comparison point sequence; calculate the tracking error of the linkage mechanism. Compared with other comparison point acquisition methods, this method does not need to increase the crank angle as an optimization variable, and the constraints do not include the order condition of the crank angle. Therefore, the present method is more likely to obtain excellent linkage solutions during optimization.
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