机构系统运动方案自动化设计原理与实现

在分析了现有的机构系统运动方案机构组合方法的研究现状基础上，提出了采用输入、输出运动行为和输入输出约束关系三者表达机构系统的运动行为知识，并给出机构系统运动行为分解的树状结构．针对机构系统具有多输出的特点，利用机构行为匹配和属性传播方法，推出其行为表示的机构组合方案，并通过黑板填写其中间运动行为和输入输出约束关系．将黑板中内容作为输入运动，使其他工艺动作的行为属性向黑板中属性内容传播，从而实现了计算机辅助设计的机构系统运动方案的自动化过程．为了避免机构组合方法中搜索深度过深、容易产生方案组合爆炸的问题，采用有界深度优先搜索策略的深度约束限制搜索树的展开层数．最后通过实例验证了本文方法的可行性和求解效率．

Automatic Design Theory and Realization of Kinematic Schemes for Mechanism System

Based on the analysis of mechanism combination methods of current mechanism system kinematic scheme, the input/ output kinematic behavior and their constraint relations were proposed to represent the kinematic behavior knowledge of mechanism system. And the tree structure of the kinematic behavior decomposition process for mechanism system was provided. Considering the characteristics of multiple outputs for mechanism system, the matching algorithm and the attributes propagation method of kinematic behaviors were used to generate a mechanism combination scheme. Its intermediated design solution and constraint relations between input and output are generated to fill the common blackboard. Moreover, using the information in the blackboard as an input motion, the behaviors attributes of other process actions are propagated to the attribute items of the blackboard, which finally enables the computer-aided automatic design process of mechanism system kinematic scheme. In order to avoid the problem of schemes combination explosion caused by unbounded depth in the searching process, a depth bound of bounded depth-first search strategy was used to control the number of expanded hiberarchy for the design tree. Finally, an example was given to show its feasibility and solution efficiency.