A simple method for the synthesis of 2D and 3D mechanisms with kinematic constraints

被引：8
|
作者：
Alba, JA
Doblaré, M
Gracia, L
机构：
[1] Univ Zaragoza, Dept Mech Engn, Zaragoza 50015, Spain
[2] Univ La Rioja, Dept Mech Engn, Logrono, Spain
来源：
MECHANISM AND MACHINE THEORY | 2000年 / 35卷 / 05期
关键词：
synthesis of mechanisms; topological and kinematic constraints; 2D and 3D path optimisation;
D O I：
10.1016/S0094-114X(99)00035-X
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A general procedure for the synthesis of mechanisms is presented here. This approach minimises the error between the actual path of one or several points of the mechanism and the paths for each of them predefined by a certain number of points. It is also possible to consider kinematic constraints on velocity, acceleration and jerk. The optimisation method uses a sequence of quadratic problems with an analytical definition of the objective function, constraints and their gradients, while the hessians are computed by finite differences. (C) 1999 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：645 / 674
页数：30
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