| Planar four-bar mechanism is widely used in many kinds of mechanical products in order to achieve the given motion or movement approximately,but the design is more complicated.Electric actuators polymer material is a new kind of material,when the control voltage to the material,it can bend with a various angle.For four-bar mechanism path cannot be entirely fitting the target trajectory,the traditional four-bar linkage can be obtained the target trajectory with EAP materials and satisfies the requirement of automation.The main research are as follows:1.Classifying the trajectory of four bar linkage from calculating some eigenvalues such as slope factor k,distance square factor t,roundness factor s,analyze the relationship between size and trajectory shape characteristic value,find out the track changes and the impact of relationship between length when the length of linkage is certain.We find kind of method to determine the types of four-bar linkage path combining with the characteristic value of k,t,s,and illustrate the feasibility of the method.2.We put forward a new kind of four-bar linkage path fitting method.Combining with the traditional theory of four bar linkage and the new materials,path generation synthesis of four-bar linkage about rectilinear is studied.Using three different kinds of optimization algorithm research to the problem,we can get different optimization results of each algorithm,but each result meet the requirements.3.This paper introduces the circle trajectory calculation process of four bar linkage,analyzes different situation when the trajectory is circle,carries on the optimization,optimization results are obtained and compared with the target circle,get the feasibility of theory.Using the ADAMS software to verify this calculation process,the simulation is identical with the theoretical,shows that the calculation process of this article is correct.4.This paper introduces the construction of the experimental platform of four bar linkage,compares the difference between the actual trajectory with the theoretical trajectory,and the experimental results are analyzed,verified the correctness and feasibility of the theory. |
