Dimensional synthesis of motion generation of a planar four-bar mechanism

A motion generation method for a planar four-bar mechanism without prescribed timing is proposed in this article. A characteristic of coupler points is found: for the coupler points of a four-bar mechanism in a standard installation position rotated by the corresponding input angle clockwise around the origin of the Cartesian coordinate system <i>xOy</i>, the generated points lie on the feature coupler circles. Next, based on this, the design process is divided into three steps. In the first step, the relative input angles, the relative coupler angles and five geometric parameters of the desired four-bar mechanism are optimized. In the second step, the basic dimensional types and initial input angle are determined, and then, the input angles are obtained. In the third step, the real size of the desired linkage mechanism is calculated. Because the dimension of the design variables in each step is exceptionally small, the motion synthesis method can yield design solutions with high precision in a short time. Six comparison examples are presented to demonstrate the efficacy of the proposed method. In addition, the method is used to design a robot for lower limb rehabilitation for application to the human foot.

本文提出了一种无需给定时序的平面四杆机构（planar four-bar mechanism）运动生成方法。研究发现连杆点（coupler points）具有如下特性：对于以标准安装位置、绕笛卡尔坐标系（Cartesian coordinate system）xOy原点顺时针旋转对应输入角的四杆机构连杆点，其生成点均位于特征连杆圆（feature coupler circles）上。基于该特性，将设计流程划分为三个步骤：第一步，对目标四杆机构的相对输入角、相对连杆角以及五项几何参数进行优化；第二步，确定基本尺寸类型与初始输入角，进而求解得到各输入角；第三步，计算目标连杆机构（linkage mechanism）的实际尺寸。由于每一步设计变量的维度均极低，该运动综合（motion synthesis）方法可在短时间内得到高精度的设计方案。本文通过六组对比算例验证了所提方法的有效性。此外，该方法还被用于设计一款适配人体足部的下肢康复机器人（lower limb rehabilitation robot）。

搜集汇总

背景与挑战

背景概述

该数据集关联一篇研究文章，提出了一种无预设时序的平面四杆机构运动生成方法，基于连杆点位于特征连杆圆的特性，通过三步优化和计算过程实现高精度快速设计。数据集包括文档文件，可能包含相关数据或补充材料，并应用于下肢康复机器人等实例。