摘要
建立了混合驱动五杆机构实现轨迹的数学模型,并对该混合驱动五杆机构进行了逆运动学分析;以可控原动件加速度波动最小为目标函数,运用最优化方法,综合得到了混合驱动五杆机构的各杆长尺寸和伺服电机的转角函数。
The mathematical model of generating locus for hybrid-(driven five-bar linkage is set up firstly. Then,
the analysis of inverse kinematics is developed. When the goal function meets the minimum variation of the angular
acceleration of the service motor, the reasonadle linkage dimensions and the input motion of the service motor are
optimized.
出处
《河北理工学院学报》
2004年第2期18-22,共5页
Journal of Hebei Institute of Technology
