【作者】 魏宏；

【导师】 谢进；

【作者基本信息】 西南交通大学 ， 机械设计及理论， 2004， 硕士

【摘要】 混合驱动平面五杆机构设计及其面向控制设计的研究越来越受到研究人员的重视。本文研究的是面向控制的平面五杆机构点位对应设计问题，在综合考虑机构运动学、动力学和控制器设计后，提出了势能不变结构和解耦条件下机构和控制器集成设计的方法。本论文的主要内容如下： 1．为了获得平滑的伺服电机运动并便于控制器的设计，采用贝塞尔曲线来设计伺服电机的运动方程；选用无条件两回转副作为平面五杆机构的设计类型，并以此建立约束方程。运动学优化的目标方程为在各预定时刻未端效应器与设计目标点之间的距离误差之和。 2．在推导出一般情况的平面五杆机构动力学方程的基础上，提出混合输入五杆机构解耦和势能不变结构的条件，并推导出满足该条件的五杆机构的简单动力学方程。 3．选择PD控制器对平面五杆机构进行控制，通过四阶龙格—库塔法得到五杆机构在该控制器控制下的响应。通过仿真分析得到了五杆机构的实际运动和两构件的最大输入力矩。 4．采用面向控制的集成设计方法来进行面向控制的混合驱动五杆机构设计，建立了集成设计的优化设计模型，利用微分进化算法对该优化模型进行优化。并将所得的机构与采用顺序设计、解耦并势能不变结构条件下的顺序设计得到的机构进行比较，证明了通过面向控制的集成设计能达到减小运动误差和控制力矩的目的，同时提高机构与控制器整个系统的品质。更多还原

【Abstract】 The synthesis of hybrid planar five-bar mechanism with a new design methodology, design for control(DFC) , has received attention from moer and more researchers. The thesis presents the DFC synthetic methodology of hybrid planar five-bar path generating mechanism. And this thesis also proposes a design procedure involves the integration of both mechanism and control design on the condition of decoupling and configuration-invariance of potential energy. The main content of this thesis is as follows:1. In order to obtain a smooth motion characteristics of servo-motor which will facilitate the design of controller, the servo-motor motion is planned with Bezier curve; the unconditional two-cranks mechanism is chosen as the type of planar five-bar mechanism to synthesise. The restriction of the optimization are deduced from above. The goal function of kinematics is the position error as the sum of the distance at each desired time between end effecter and the precision points, which define the desired motion of the mechanism.2. After the generalized dynamic function of planar five-bar mechanism has been deduced, the conditions of decoupling and configuration-invariance of potential energy are proposed. Then the dynamic function of planar five-bar mechanism will be simplified.3. when the dynamic function has been simplified, a simple PD control algorithm is applied to control the planar five-bar mechanism. For the numerical solutions of the dynamic equation, the fourth-order Runge-Kutta method is used. The the motion of the end effecter and the maximal input moment is abtain from the simulation result.4. the DFC synthetic methodology involves the integration of both mechanism and control design is applied to the design of planar five-bar mechanism. Having established the integrative optimization model, differential evolution algorithms search the solution space of the objection function. Then synthesise the planar five-bar mechanism with sequential optimization . sequential optimization on the conditions of decoupling and configuration-invariance of potential energy. The simulation result verify that the proposed methodologywill reduce the motion error and the maximal input moment, and improve the motion-tracking performance of the mechanism.更多还原