摘要
为得到具有良好综合性能的平面3-RRR并联机构,提出一种简单、快捷的优化设计方法。首先,将平面3-RRR并联机构的尺寸进行无量纲化,建立设计空间平面图。其次,在设计空间中分别作出机构的全局条件数、全局速度以及全局刚度三个性能指标的性能图谱,分别对三个指标的性能图谱进行分析。最后,根据三个性能指标的性能图谱确定多目标优化的权系数以及约束方程,从而建立优化模型,运用基因算法完成优化。结果显示,该方法能够达到优化目标。
In this paper, a convenient and efficient method used to optimize the planar 3-RRR parallel manipulator with good overall performance is presented. Firstly,the planar 3-RRR parallel manipulator is treated as a non-dimensional structure and the design plane of the non-dimensional parallel manipulator is set up. Then,the atlases of global conditioning index,global velocity index and global stiffness index are presented and analyzed in the design space,respectively. Finally,based on the atlases of these three indices,the optimization problem is formulated and the non-dimensional parallel manipulator considering overall performance is achieved by using the genetic algorithm. The result shows that the method could obtain the optimum object.
出处
《机械设计与研究》
CSCD
北大核心
2014年第6期8-12,共5页
Machine Design And Research
基金
国家自然科学基金重大研究计划资助项目(91223201)
广东省自然科学基金团队(S2013030013355)
中央高校基本科研业务费(2012ZP0004)
广东省高等学校珠江学者岗位计划资助项目(2010)
关键词
并联机构
综合性能
无量纲参数
性能图谱
多目标优化
parallel manipulator
overall performance
non-dimensional parameters
performance atlases
multi-objective optimization
