Optimum synthesis of four-bar mechanisms considering clearance-induced uncertainty
Optimum synthesis of four-bar mechanisms considering clearance-induced uncertainty
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DOI：
10.1177/09544062221104596
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发表时间：
2022-05
期刊：
影响因子：
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通讯作者：
Jianzhong Ding;Yang Dong;Xueao Liu;Chunjie Wang
中科院分区：
文献类型：
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作者：
Jianzhong Ding;Yang Dong;Xueao Liu;Chunjie Wang
建立了考虑转动副间隙影响的四杆机构运动综合的多目标优化模型。提出了一种计算最大间隙引起的位姿误差的几何方法。通过一个简单的算例对所提出的误差建模方法进行了验证，结果表明，与广泛使用的现有方法相比，该方法具有精度高、计算速度快等优点。建立了以最佳精度设计四杆机构的多目标优化模型。定位和定向误差被分开且相等地建模。此外，在优化过程中加入了三个约束条件，以确保综合后的机构为紧凑型曲柄摇杆机构或双曲柄机构，且不存在分支和顺序缺陷。以通过6个运动点的四杆机构综合为例，说明了该方法的有效性。最后，给出了结论并进行了简要讨论。
This paper presents a multi-objective optimization model for the motion synthesis of four-bar mechanisms considering the effects of revolute joint clearances. A geometric method is proposed to compute the maximum clearances-induced positioning and orientation errors. The proposed error modeling method is validated using a simple example, and the results reveal its advantages of high accuracy and fast computation compared with the widely used existing methods. A multi-objective optimization model is developed to design the four-bar mechanism with the best accuracy. The positioning and orientation errors are modeled separately and equally. Moreover, three constraints are included in the optimization to ensure that the synthesized mechanism is a compact crank-rocker or double-crank mechanism free from branch and order defects. A study case of synthesizing a four-bar mechanism passing through 6 motion points is investigated to illustrate the proposed method. Finally, conclusions and a brief discussion are given.