推料四杆机构参数优化与运动精度分析研究

目的 对于四杆机构在包装推料应用中，其运动轨迹与理论要求差别较大，不能很好地满足高精度包装产品需求的问题，拟采用改进蚁群算法来优化四杆机构几何参数。方法 引入二维坐标系建立四杆机构几何参数，通过数学关系式推导运动轨迹点的坐标方程式。分析四杆机构几何参数变量，构造多目标优化误差函数，添加四杆机构运动约束条件。引用改进蚁群算法对四杆机构几何参数进行多目标优化，采用数学软件Matlab对优化结果进行误差仿真验证。结果 仿真结果表明，四杆机构参数优化后，横向和纵向的平均误差、均方根误差降低，横向的平均误差和均方根误差分别降低了55.9%和59.1%，纵向的平均误差和均方根误差分别降低了56.7%和53.5%。结论 采用改进蚁群算法优化四杆机构几何参数，提高了四杆机构在包装中的定位精度。

Parameter Optimization and Motion Precision Analysis of Pushing Four-bar Mechanism

At present, the four-bar mechanism in the application of packaging thrust material, its motion trajectory and theoretical requirements are quite different, can not meet the needs of high precision packaging products. In this regard, the improved ant colony algorithm was used to optimize the geometric parameters of the four-bar linkage. Two dimensional coordinate systems were introduced to establish the geometric parameters of the four-bar mechanism. Coordinate equation of the trajectory points was derived through mathematical relations. The geometric parameter variables of the four-bar linkage were analyzed and the multi-objective optimization error function was constructed. At the same time, the motion constraint conditions of the four-bar mechanism were added. The improved ant colony algorithm was used have multi-objective optimization on the geometric parameters of the four-bar mechanism. The mathematical software Matlab was used to carry out the error simulation verification of the optimization results. The simulation results show that the average error and root mean square error of the four-bar linkage mechanism were reduced after optimization. The mean and root mean square errors of the crosswise were decreased by 55.9% and 59.1% respectively. The mean and root mean square errors of the longitudinal were decreased by 56.7% and 53.5% respectively. The improved ant colony algorithm could optimize the geometrical parameters of four-bar mechanism and improve the positioning accuracy of four-bar mechanism in packaging.