KR101115164B1 - Changeable Block System for Synthesis of Planar Linkage Mechanism and Synthesis Method of the Planar Linkage Mechanism using the System - Google Patents

Abstract

A variable block system for the synthesis of a planar link mechanism of the present invention comprises: three rectangular blocks which are discretized by being arranged to be distinguished within a design area for designing the planar link mechanism; A plurality of rigid variable springs connecting the rectangular blocks; And a plurality of intermediate nodes disposed at intersections of the rectangular blocks to connect the rigid variable springs to the rectangular blocks. According to the present invention, it is possible to perform mechanism synthesis of various kinds of four-link mechanisms through the variable block system, thereby reducing the troublesome and time-consuming loss of the repetitive design process required for shape synthesis or dimension synthesis of the mechanism. have.

Description

Changeable Block System for Synthesis of Planar Linkage Mechanism and Synthesis Method of the Planar Linkage Mechanism using the System

The present invention relates to a variable block system for synthesizing a planar link mechanism and a method of synthesizing a planar link mechanism using the same. The present invention relates to a variable block system for synthesizing a planar link mechanism and a method of synthesizing a planar link mechanism using the same.

The planar link mechanism is a mechanical device for converting the supplied power into a specific type of motion. Instrument design is applied for the synthesis of such planar link mechanisms. For example, a mechanism design is applied for the synthesis of planar link mechanisms used in mechanical structures such as variable valve mechanisms, robot mechanisms, section 4 link mechanisms of vehicle engines.

The instrument design basically determines the form of the instrument, for example the shape of the links and joints, through the form synthesis process and then the dimensions between the components through dimension synthesis.

Thus, in order to implement a desired instrument shape, various instrument combinations were first examined through form synthesis using graphic theory, and then a dimension synthesis process was performed using a properly selected instrument form as a candidate instrument. In dimension synthesis, the optimization process usually determines the dimensions of each component.

On the other hand, to perform the above-described instrument synthesis requires knowledge and experience of the machine, and some intuition. In other words, the process of instrument synthesis still depends on the experience and intuition of the designer, which is a costly and time-consuming situation.

In other words, the designer sets the initial layout for the device composition, and then tries to change the length of the link or the position of the joint such as the pin joint or the sliding joint. On the other hand, if you didn't get the mechanism you wanted, you had to change to a different initial layout and then repeat the same task.

Accordingly, it is possible to implement a variety of mechanism synthesis mechanisms to exclude the trial and error process, accordingly, it is necessary to develop a new mechanism synthesis mechanism that can prevent the consumption of time and costs.

It is an object of the present invention to perform instrument synthesis of various types of four-link mechanisms through a variable block system, thereby reducing the trouble and time loss of the iterative design process required for the shape synthesis or the dimension synthesis of the mechanism. A variable block system for synthesizing a planar link mechanism, and a method for synthesizing a planar link mechanism using the same.

Another object of the present invention is to provide a variable block system for synthesizing a planar link mechanism that can automatically determine the shape or size of the mechanism through an optimization process given an output motion to be implemented as a planar link mechanism. It is to provide a method for synthesizing a planar link mechanism.

According to an embodiment of the present invention, a variable block system for synthesizing a planar link mechanism includes three rectangular blocks that are discretized by being arranged to be distinguished in a design area for designing the planar link mechanism; A plurality of rigid variable springs connecting the rectangular blocks; And a plurality of intermediate nodes disposed at intersections of the rectangular blocks to connect the rigid variable springs to the rectangular blocks, and through this variable block system, mechanism synthesis of various kinds of four-link mechanisms can be performed. As a result, it is possible to reduce the cumbersome and time-consuming loss of the repetitive design process required for shape synthesis and dimension synthesis.

Here, each of the plurality of rigid variable springs may include rigid variable springs having different stiffness values, and may be connected to the rectangular block using a rigid variable spring selected from among rigid variable springs having different rigidity values.

The plurality of stiffness variable springs may have different stiffness values according to the X-axis or Y-axis direction, respectively.

In addition, the three rectangular blocks are rectangular in shape, and the horizontal length and vertical length of the rectangular blocks may be variable.

The intermediate node may be provided as a sliding joint such that one rectangular block is slidable with respect to the other rectangular block, or the intermediate node may be pinned such that one rectangular block is relatively rotatable with respect to the other rectangular block. It may be provided as a pin joint.

The three rectangular blocks are a first rectangular block, a second rectangular block, and a third rectangular block, wherein the first rectangular block and the second rectangular block are disposed up and down, and the third rectangular block is the first rectangular block. And a side of the second rectangular block, wherein the intermediate node is between the first rectangular block and the second rectangular block, between the second rectangular block and the third rectangular block, and between the first rectangular block and the second rectangular block. It may be disposed between the rectangular block and the third rectangular block, respectively.

On the other hand, the synthesis method of the variable block system for the synthesis of the planar link mechanism according to an embodiment of the present invention, defining a problem of automatic synthesis of the planar link mechanism; Discretizing the discs by arranging the three rectangular blocks in the design area to distinguish them; Setting initial values of a design variable of the rigid variable spring that connects the rectangular block or the rectangular blocks; Calculating a movement path of the square block with respect to an input after presetting a desired movement path of the square block; A comparison step of comparing the actual motion path of the square block calculated in the calculation step with the motion path of the preset square block; And a derivation step of deriving the initial values of the design variables as optimal solutions when the actual movement path of the rectangular block is within a predetermined range of the predetermined movement path as a result of the comparison in the comparison step.

As a result of the comparison in the comparing step, when the actual movement path of the square block is not within a predetermined range of the preset movement path of the square block, the square block design variable or the design variable of the rigid variable spring is reset in the variable setting step. can do.

The design variables of the rectangular block are horizontal and vertical lengths, and the design variables of the stiffness variable spring may be rigid values along an X axis or a Y axis.

According to an embodiment of the present invention, through the variable block system, it is possible to perform mechanism synthesis of various kinds of four-section link mechanisms, and thus the hassle and time loss of the iterative design process required for shape synthesis or dimension synthesis of the mechanism. Can be reduced.

In addition, according to an embodiment of the present invention, given the output motion to be implemented as a planar link mechanism can automatically determine the shape or size of the mechanism through the optimization process.

1 is a diagram for defining an automatic synthesis problem of a planar link mechanism according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a state where the design region of FIG. 1 is discretized into three rectangular blocks.
3 is a diagram illustrating a variable block system for synthesizing a planar link mechanism according to an embodiment of the present invention modeled in the design region of FIG. 1.
4 is a flowchart of a method of synthesizing a planar link mechanism using a variable block system according to an embodiment of the present invention.
5A and 5B illustrate an operation in which a crank-locker mechanism having four links is implemented by the variable block system of this embodiment.
FIG. 6 is a view schematically showing an example of a four-section link mechanism having three pin joints and one sliding joint. FIG.
FIG. 7 is a diagram modeling the linkage section mechanism of FIG. 6 as a variable block system.
FIG. 8 is a view schematically showing an example of a four-section link mechanism having two pin joints and two sliding joints.
FIG. 9 is a diagram illustrating a variable block system of the four-section link mechanism of FIG. 8.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the configuration and operation according to an embodiment of the present invention.

The following description is one of several aspects of the patentable invention and the following description forms part of the detailed description of the invention.

FIG. 1 is a view defining an automatic synthesis problem of a planar link mechanism according to an embodiment of the present invention, FIG. 2 is a diagram illustrating a state in which the design region of FIG. 1 is discretized into three rectangular blocks, and FIG. 3. 1 illustrates a variable block system for synthesizing a planar link mechanism according to an embodiment of the present invention, which is modeled in the design region of FIG. 1.

The variable block system 100 for the synthesis of the planar link mechanism according to an embodiment of the present invention is divided in the design area 101 for the integrated synthesis of the planar link mechanism, as shown in FIGS. 1 to 3. Three rectangular blocks 111, 112, 113 discretized by being disposed so as to be discretized, a plurality of intermediate nodes 121, 122, 123, 124 disposed at intersections of the rectangular blocks 111, 112, 113, A rigid variable spring 131 connected to the rectangular blocks 111, 112, 113 and intermediate nodes 121, 122, 123, 124. Here, the planar link mechanism to be synthesized via the variable block system 100 is a four-section link mechanism having a total of four links.

First, three rectangular blocks 111, 112, and 113 are disposed in the design area 101 of FIG. 1, and the area occupied by the three rectangular blocks 111, 112, and 113 corresponds to the area of the design area 101. do.

Referring to FIG. 3, the arrangement structure of the three rectangular blocks 111, 112, and 113 will be described. For convenience of description, the three three rectangular blocks 111, 112, and 113 will be described as a first rectangular block ( 111, the second rectangular block 112 and the third rectangular block 113 will be referred to as.

First, the first rectangular block 111 and the second rectangular block 112 are disposed up and down, and the third rectangular block 113 is disposed at the sides of the first rectangular block 111 and the second rectangular block 112. . The intermediate nodes 121, 122, 123, and 124 may be formed between the first rectangular block 111 and the second rectangular block 112, between the second rectangular block 112 and the third rectangular block 113. It is disposed between the first square block 111, the second square block 112 and the third square block 113, respectively, wherein the first square block 111, the second square block 112 and the third square block 113 Two intermediate nodes 123 and 124 may be coupled between the 113.

These three rectangular blocks (111, 112, 113) is a variable length of the horizontal and vertical, so through the optimization process to be described later it is possible to find the optimized horizontal and vertical length of the rectangular blocks (111, 112, 113) Based on the obtained result, the lengths of the horizontal blocks and the vertical blocks 111, 112, and 113 may be reset.

Meanwhile, the intermediate nodes 121, 122, 123, and 124 are disposed between the rectangular blocks 111, 112, and 113 and are connected to the vertices of the rectangular blocks 111, 112, and 113, respectively. This serves as a connecting port. The intermediate nodes 121, 122, 123, and 124 have no volume and may be provided as a sliding joint or a pin joint. In this embodiment, four intermediate nodes 121, 122, 123, and 124 are provided as shown in FIG. 3, but are not limited thereto.

The rigid variable springs 131, 132 are connected to the vertices of the rectangular blocks 111, 112, 113 by intermediate nodes 121, 122, 123, 124 to interconnect the rectangular blocks 111, 112, 113. Can be. However, the stiffness variable springs 131 and 132 of the present embodiment may have different stiffness values, and thus, the connection states of the rectangular blocks 111, 112 and 113 may be differently implemented.

In addition, each of the rigidity variable springs 131 and 132 may have different stiffness values according to the X-axis and Y-axis directions. Thus, various kinematic mechanisms such as rotary joint, translational joint, etc. can be implemented according to the stiffness values in each direction.

Hereinafter, a method of synthesizing a planar link mechanism using the variable block system 100 of the present embodiment will be described with reference to FIGS. 1 to 4.

4 is a flowchart of a method of synthesizing a planar link mechanism using a variable block system according to an embodiment of the present invention.

As shown in Fig. 4, the method of synthesizing the planar link mechanism of the present embodiment includes a defining step S100 for defining an automatic compositing problem of the planar link mechanism, and three quadrangles within the design area 101 (see Fig. 1). Discretization step (S200) of discretizing the blocks (111, 112, 113) arranged to be separated, and variables for setting the initial values of the design variables of the rectangular block (111, 112, 113) and the rigid variable spring (131, 132) The setting step (S300), the calculation step (S400) for calculating the motion path of the rectangular blocks (111, 112, 113) for the input, and the preset motion path and input of the rectangular blocks (111, 112, 113) The comparison step S500 for comparing the actual motion paths of the quadrangle blocks 111, 112, and 113, and when the actual motion path is within a predetermined range of the preset motion path based on the comparison result in the comparison step S500, To derive design variable initial values May include a derivation step S600.

Each step will be described in detail. First, as shown in FIG. 1, the defining step S100 may include a design area 101 that converts an input motion into a desired output motion. It's a defining step. The purpose of the design here is to find a planar link mechanism that converts a given input motion into a desired output motion.

The discretization step S200 is a step of discretizing the design region 101 shown in FIG. 1 into three rectangular blocks 111, 112, and 113 as shown in FIG. 2. At the intersection of each discretized rectangular block 111, 112, 113, four intermediate nodes 121, 122, 123, 124 having no volume are located, as shown in FIG. 3, and the rectangular block 111, 112. According to an embodiment of the present invention, the vertices of the 113 and the intermediate nodes 121, 122, 123, and 124, and the ground 105 are connected by rigid variable springs 131 and 132 having no initial length. It may be modeled as the block system 100.

In detail, the variable block system 100 of the present exemplary embodiment may express a motion through a quasi-static equilibrium analysis. In other words, the deformation of the rigid variable springs (131, 132) occurs due to the input motion given from the input portion, and as time passes, the entire system is in static equilibrium. The total potential energy stored in the system at equilibrium is minimized and this represents the kinematic state of motion of the system at each time step. Through this quasi-static equilibrium analysis, the motion at the output portion may be variously expressed according to the change in the rigidity of the rigid variable springs 131 and 132 to which the rectangular blocks 111, 112 and 113 are connected.

Meanwhile, in the variable setting step S300, as described above, the initial values of the design variables such as the stiffness of the stiffness variable springs 131 and 132 and the horizontal and vertical lengths of the rectangular blocks 111, 112 and 113 are set. It's a step. When the initial values of the design variables set in the variable setting step S300 are satisfied by the steps to be described later, the initial values of the design variables may be optimal, whereas when the initial values of the design variables are not satisfied, the initial values of the design variables may be reset. Can be. However, design variables may have upper and lower values for each design variable.

Subsequently, the calculating step S400 is a step of calculating an actual path of movement of the rectangular blocks 111, 112, and 113 with respect to the input. The actual motion paths of the rectangular blocks 111, 112, and 113 calculated here are compared with a preset motion path in the comparison step S500.

As a result of the comparison in the comparison step S500, when the actual movement path of the rectangular blocks 111, 112, and 113 calculated in the calculation step S400 and the preset movement path are similar within a predetermined range, the derivation step S600 is performed. For example, the initial values of the above-described design variables may be derived as an optimal solution.

However, when the motion paths of the rectangular blocks 111, 112, and 113 deviate within a predetermined range of the preset motion path, the stiffness values of the rigid variable springs 131 and 132 and the rectangular blocks 111, 112, and 113 are again. After resetting the design variables such as the horizontal and vertical length of the above, the above-described steps, that is, the calculation step (S400), the comparison step (S500) and the derivation step (S600) are executed again. In this case, however, design variables may be appropriately reset based on previously obtained result data, thereby obtaining more desirable results in a repeated step. In other words, the likelihood of design variables becoming optimal will be increased.

As described above, according to the present exemplary embodiment, the shape of the device and the size of the device may be automatically determined through an optimization process using the variable block system 100 modeled for the integrated integration of the device. Time loss can be reduced by reducing the iterative design process required for synthesis.

Hereinafter, an operation in which the planar link mechanism is actually implemented through the variable block system 100 will be described.

First, FIGS. 5A and 5B illustrate an operation in which a crank-rocker mechanism 200 having four links is implemented by the variable block system 100 of the present embodiment.

That is, in FIG. 5A, one of the four links 210, 220, 230, and 240 is rotated 360 degrees, and the other link 230 is the link 210 described above. The crank-locker mechanism 200 can be represented by three rectangular blocks 111a, 112a, 113a, as shown in FIG. On the contrary, the crank rocker mechanism 200 can be designed through an optimization process of the variable block system 100a having three rectangular blocks 111a, 112a, and 113a.

As a result, it is possible to reduce the troublesome iterative design process and improve the accuracy of the design.

6 is a view schematically showing an example of the four-section link mechanism 300 having three pin joints 350 and one sliding joint 360, and FIG. 7 is a four-section link mechanism of FIG. 6. 300 is a diagram modeling the variable block system 100b.

As shown in these figures, the motion path of the four-section link mechanism 300 of FIG. 6 may be properly implemented in the variable block system 100b of this embodiment as shown in FIG. At this time, the stiffness value of each of the rigid variable springs (131b, 132b, 133b) can be obtained as the optimization result shown in FIG.

However, among the rigid variable springs 131b, 132b, and 133b, the first rigid variable spring (131b: thick spring) has a very small stiffness value, and the second rigid variable spring (132b: cut thin spring) has a very large rigidity value. Has On the other hand, the third rigid variable spring 133b (thin spring) has a very large rigidity value in the X-axis direction while a very small rigidity value in the Y-axis direction. Accordingly, the sliding joint 360 in which the second rectangular block 112b of the rectangular blocks 111b, 112b and 113b follows the third rectangular block 113b by the third rigid spring 133b may be implemented.

8 is a diagram schematically showing an example of a four-section link mechanism 400 having two pin joints 450 and two sliding joints 460, and FIG. 9 is a four-section link mechanism of FIG. 8. 400 is modeled as the variable block system 100c.

As shown in the figures shown in these figures, the motion path of the four-section link mechanism 400 of FIG. 8 may also be appropriately implemented in the variable block system 100c of this embodiment as shown in FIG. 9. Therefore, through this variable block system 100c, the set design variables, that is, the horizontal and vertical lengths of the rectangular blocks 111c, 112c, and 113c, and the stiffness values of the rigid variable springs 131c, 132c, and 133c can be optimized. In this way, it is possible to accurately perform the synthesis of the four-section link mechanism 400.

As described above, through the variable block system 100, 100a, 100b, 100c according to an embodiment of the present invention, a four-section link mechanism having various kinds of four-section link mechanisms, for example, four pin joints Mechanical synthesis such as a four-section link mechanism 300 having three pin joints and one sliding joint or a four-section link mechanism 400 having two pin joints and two sliding joints. Accordingly, there is an advantage in that it is possible to reduce the troublesome and time-consuming loss of the repetitive design process required for the shape synthesis or the dimension synthesis of the mechanism.

In the embodiment described above, a four-section link mechanism having four pin joints, a four-section link mechanism having three pin joints and one sliding joint, or a four-section link having two pin joints and two sliding joints Although the case where the variable block system is applied to the mechanism has been described, it is natural that the variable block system may be applied to other types of four-section link mechanisms.

In the present invention as described above has been described by the specific embodiments, such as specific components and limited embodiments and drawings, but this is provided to help a more general understanding of the present invention, the present invention is not limited to the above embodiments. For those skilled in the art, various modifications and variations are possible from these descriptions. Therefore, the spirit of the present invention should not be limited to the described embodiments, and all of the equivalents and equivalents of the claims, as well as the following claims, will fall within the scope of the present invention. .

100, 100a, 100b, 100c: variable block system
111, 112, 113: square block models
121, 122, 123, 124: intermediate nodes
131, 132: rigid variable spring
200, 300, 400: Section 4 linkage

Claims (9)

Three rectangular blocks that are discretized by being disposed in a design area for designing the planar link mechanism;
A plurality of rigid variable springs connecting the rectangular blocks; And
A plurality of intermediate nodes disposed at intersections of the rectangular blocks to connect the rigid variable springs to the rectangular blocks;
Variable block system for the synthesis of planar link mechanism comprising a.
The method of claim 1,
Each of the plurality of rigid variable springs has rigid variable springs having different stiffness values, and the planar link mechanism is coupled to the rectangular block using a rigid variable spring selected from among the rigid variable springs having different stiffness values. Variable block system.
The method of claim 2,
And said plurality of rigid variable springs are variable springs each having a different stiffness value depending on the X-axis or Y-axis direction.
The method of claim 1,
And said three rectangular blocks are rectangular in shape, and wherein the horizontal and vertical lengths of said rectangular blocks are variable.
The method of claim 1,
The intermediate node may be provided as a sliding joint such that one rectangular block is slidable with respect to the other rectangular block, or the intermediate node may be pinned such that one rectangular block is relatively rotatable with respect to the other rectangular block. Variable block system for the synthesis of planar link mechanisms provided by pin joints.
The method of claim 1,
The three rectangular blocks are a first rectangular block, a second rectangular block, and a third rectangular block,
The first rectangular block and the second rectangular block is disposed up and down and the third rectangular block is disposed on the sides of the first rectangular block and the second rectangular block,
The intermediate node is between the first rectangular block and the second rectangular block, between the second rectangular block and the third rectangular block, between the first rectangular block and the second rectangular block and the third rectangular block. Variable block system for the synthesis of planar link mechanisms each disposed.
A method of synthesizing a variable block system for synthesizing a planar link mechanism according to any one of claims 1 to 6,
A defining step of defining an automatic synthesis problem of the planar link mechanism;
Discretizing the discs by arranging the three rectangular blocks in the design area to distinguish them;
Setting initial values of a design variable of the rigid variable spring that connects the rectangular block or the rectangular blocks;
Calculating a movement path of the square block with respect to an input after presetting a desired movement path of the square block;
A comparison step of comparing the actual motion path of the square block calculated in the calculation step with the motion path of the preset square block;
A derivation step of deriving an initial value of the design variable as an optimal solution when the actual movement path of the rectangular block is within a predetermined range of the predetermined movement path as a result of the comparison in the comparing step;
Synthesis method of planar link mechanism using a variable block system comprising a.
The method of claim 7, wherein
As a result of the comparison in the comparing step, when the actual movement path of the square block is not within a predetermined range of the predetermined movement path of the square block, the design variable of the square block or the design variable of the stiffness variable spring is set in the variable setting step. Synthesis method of planar link mechanism using reconfigurable variable block system.
The method of claim 7, wherein
The design variables of the rectangular block are horizontal and vertical length,
And a design variable of the stiffness variable spring is a stiffness value along an X axis or a Y axis.

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