Synthesis And Simulation Of Straight-Line Guiding Mechanism Based On Solution Regions Analysis

Approximate straight-line guiding mechanism can replace the guide rail to complete the approximate straight-line movement without friction and wear.It can achieve a very high degree of approximate straight-line trajectory and its structure is simple,so it is widely used in various machine,such as industrial robots,harvesting machinery,lifting machinery,intermittent machinery and so on.This paper takes the straight-line guiding mechanism as the research object,and the main research work is as follows:First of all,based on the theory of instantaneous motion geometry,the analytic geometry method and graphic visualization technology are used,design requirements oriented,to determine the ideal straight line according to the given point and direction angle of the straight line,and the azimuth angle of the connecting frame bar is generally selected as the design variable to establish a unified comprehensive model of the straight-line guiding mechanism,so as to solve the straight-line guiding mechanism and device with the second-order close order general configuration The synthesis of straight-line guiding mechanism with three order close order special positioning shape.Secondly,the synthesis model of straight-line guiding mechanism can synthesize infinite straight-line guiding mechanism,but not all mechanisms meet the engineering needs.According to the design requirements,the design variables are limited in a limited range,that is to say,the infinite mechanisms are expressed in a limited solution regions;The judgment method of straightness and branch defects is proposed,According to the needs of the project,it is necessary to decide whether to remove the branch defects;calculate the kinematic attributes of the main mechanisms such as mechanism type,minimum transmission angle,curve contour,etc.;express the attributes of all mechanisms in a limited area,which can intuitively represent the distribution rule and change trend of attributes;apply the operation The feasible solution regions of the dynamic constraint generating mechanism,taking straightness as the objective evaluation function,selects the optimal mechanism which meets the engineering needs and has good straightness.Thirdly,in order to verify the correctness of theoretical research on straight-line guiding mechanism with two or more close order general configuration and three close order special configuration,the visual design and dynamic simulation of straight-line guiding mechanism synthesis based on solution regions analysis are realized by MATLAB programming language,which provides designers with fast and effective design means.The software includes four aspects Main functions:realize the parameterized design of the general configuration linear guide mechanism with two or more close orders and the special configuration of the three close order linear guide mechanism;the user can set the known parameters and design variables of the interface according to the working conditions through the interactive interface,and can realize the visualization of the mechanism design;exert the movement required by the project It can display the performance distribution of the mechanism and the optimal solution to meet the design requirements in the limited feasible solution regions;It is convenient for the designer to select the optimal straight-line guiding mechanism to meet the engineering requirements at high speed and accurately.Finally,based on the comprehensive model and optimization method of the straight-line guiding mechanism proposed in this paper,the calculation models of "horizontal" and"vertical" eight link leg mechanism meeting the requirements of straightness are given to realize the motion simulation of eight link leg mechanism walking alternately.Through the establishment of eight link "horizontal" and "vertical" single leg mechanism,the correctness and effectiveness of the simulation model of eight link leg mechanism are verified.