Design Framework for Motion Generation of Planar Four-Bar Linkage Considering Clearance Joints and Dynamics Performance
Design Framework for Motion Generation of Planar Four-Bar Linkage Considering Clearance Joints and Dynamics Performance
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DOI：
10.3390/machines10020136
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发表时间：
2022-02
期刊：
影响因子：
2.6
通讯作者：
Xueao Liu;Jianzhong Ding;Chunjie Wang
中科院分区：
文献类型：
--
作者：
Xueao Liu;Jianzhong Ding;Chunjie Wang
在本文中，我们提出了一种新的设计框架，连接机构综合与机构的动力学性能。该设计框架的目的是通过连杆机构的设计来提高机构的动力学性能，而不是提高制造精度或改变驱动策略。具体而言，该设计框架是在考虑副间隙和动力学性能的情况下，完成四杆机构的运动生成。分别建立了运动生成的约束模型和四杆机构的动力学模型。将四杆机构的四个关节坐标分为两部分，一部分是改善机构动力学性能的参数，并将其作为优化变量。另一部分关节坐标是满足运动学要求的，通过求解约束方程生成运动。通过优化计算，得到了在保证运动精度和间隙副磨损程度的前提下，实现指定任务位置的四杆机构的最优构型。最后，一个数值例子来证明新的设计框架。
In this paper, we present a novel design framework to connect linkage synthesis with dynamics performance of the linkage. The aim of the design framework is to improve the dynamics performance of the mechanism through linkage design, instead of improving manufacturing accuracy or changing driving strategy. Specifically, the design framework is to complete motion generation of four-bar linkage, considering clearance joints and dynamics performance. The constraint model of motion generation and the dynamics model of four-bar linkage are established, respectively. The coordinates of four joints of four-bar linkage are divided into two parts, one of parts is the parameters to improve the dynamics performance of the linkage and is selected as the optimization variables. The other parts of joint coordinates is to satisfy the kinematics requirements and is obtained by solving constraint equations of motion generation. Through optimization calculation, we can obtain the optimal configuration of the four-bar linkage that achieves specified task positions with high motion accuracy and low wear extent of clearance joint. Finally, a numerical example is proposed to demonstrate the novel design framework.