基于粒子群算法的平面四杆机构优化与动力学仿真

发布时间：2018-12-25 12:32

【摘要】：目前,平面四杆机构运动过程中连杆从动件输出的角加速度的线加速度比较大,导致机构运动不平稳,不能很好地满足工作需求.对平面四杆机构连杆及销子进行优化,实现连杆从动件输出的角加速度和线加速度值最小化.创建平面四杆机构链接节点间隙模型和机构矢量简图,对四杆机构的运动节点间隙进行分析,推导了连杆运动的质心线加速度计算公式.四杆机构连接销子采取虚拟质量,引入粒子群算法优化连杆运动参数,结合具体实例对优化前和优化后的四杆机构从动件进行运动学仿真.仿真结果显示:优化前两个从动件输出的角加速度最大值分别为2.4×10~3 rad·s~(-2)和-5.0×10~3rad·s~(-2),优化后两个从动件输出的角加速度最大值分别为-0.6×10~3 rad·s~(-2)和-0.8×10~3rad·s~(-2);优化前两个从动件输出的线加速度最大值分别为0.27×103 m·s~(-2)和0.55×10~3 m·s~(-2),优化后两个从动件输出的线加速度最大值分别为-0.07×10~3 m·s-2和0.12×10~3 m·s~(-2).优化后四杆机构从动件输出的角加速度和线加速度相对较小,运动相对平稳,效果很好.
[Abstract]:At present, the linear acceleration of the angular acceleration output by the follower of the connecting rod is relatively large during the motion of the planar four-bar mechanism, which leads to the unsteady movement of the mechanism and can not meet the requirements of the work well. The planar four-bar linkage and pin are optimized to minimize the angular acceleration and linear acceleration of the follower. The linkage node clearance model and the vector diagram of the planar four-bar linkage are established, the clearance of the four-bar linkage is analyzed, and the formula for calculating the linear acceleration of the mass center of the linkage is derived. The four-bar linkage pin adopts virtual mass, particle swarm optimization algorithm is introduced to optimize the kinematic parameters of the connecting rod, and the kinematics simulation of the four-bar mechanism follower before and after optimization is carried out with concrete examples. The simulation results show that the maximum angular acceleration of the first two followers is 2.4 脳 10 ~ (-3) rad S2 and -5.0 脳 10~3rad s ~ (-2), respectively. The maximum angular acceleration of the two followers is -0.6 脳 10 ~ (-3) rad s ~ (-2) and -0.8 脳 10~3rad s ~ (-2), respectively. The maximum linear acceleration of the first two followers is 0.27 脳 10 ~ 3 Ms ~ (-2) and 0.55 脳 10 ~ 3 Ms ~ (-2), respectively. The maximum linear acceleration of the two followers is -0.07 脳 10 ~ 3 m ~ (-2) and 0.12 脳 10 ~ (-3) Ms ~ (-2), respectively. After optimization, the output angular acceleration and linear acceleration of the four bar mechanism follower are relatively small, the motion is relatively stable, and the effect is very good.
【作者单位】：昆明学院自动控制与机械工程学院;
【基金】：云南省教育厅科学研究基金重点资助项目(2010Z027)
【分类号】：TH112

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