CAJ | 학술논문

分析了平面连杆机构运动学逆解问题的复杂性,根据平面连杆机构的树结构表达方法,利用树结构的遍历算法并结合无约束优化方法,将运动学逆解问题分解为每个时间步的正解逼近,从而克服了运动学逆解复杂的运动路线生成问题,形成了自动求解平面连杆机构运动学逆问题的一种通用数值方法,该方法对任意指定的原动件的平面连杆机构运动分析也适用,数值算例表明该方法的有效性.
분석료평면련간궤구운동학역해문제적복잡성,근거평면련간궤구적수결구표체방법,이용수결구적편력산법병결합무약속우화방법,장운동학역해문제분해위매개시간보적정해핍근,종이극복료운동학역해복잡적운동로선생성문제,형성료자동구해평면련간궤구운동학역문제적일충통용수치방법,해방법대임의지정적원동건적평면련간궤구운동분석야괄용,수치산례표명해방법적유효성.
The complexity of kinematic inverse solution problems of planar linkage mechanism has been analyzed. According to the tree structure expression method of planar linkage mechanism, utilizing the transversal algorithm of tree structure and combining with the nonrestraint optimization method, let the kinematic inverse solution problem be decomposed as forward solution approach of every time step, thus overcame the complicated motion route generative problems of kinematic inverse solution and formed a kind of universal numerical method for solving automatically the kinematic inverse problem of planar linkage mechanism. This method was also applicable to the motion analysis of planar linkage mechanism of arbitrary designated motivity member. A numerical calculation example indicated the effectiveness of this method.