基于工作空间最大化的2-RPC/2-SPC并联机构多学科设计优化

Multidisciplinary design optimization for 2-RPC/2-SPC parallel mechanism with respect to maximizing workspace

以2-RPC/2-SPC并联机构为研究对象,首先考虑奇异位形、杆长、运动副转角等影响因素,采用数值法求解机构的工作空间;然后运用Isight软件对工作空间进行试验设计,得到工作空间达到较大时结构参数的取值范围;最后建立以机构灵巧度、静刚度、承载能力及驱动力为性能评价指标的多学科设计优化模型,基于Isight软件对模型进行求解使这些性能达到整体最优,得到结构参数的最优解,并对性能评价指标的结果进行可靠性评价.研究结果表明,多学科设计优化应用在并联机构是可行的,能为并联机构的优化设计奠定基础.

Firstly,the influence of singularity equations,angle of motion pair and length of branched chain are considered to solve the workspace of the 2-RPC/2-SPC parallel mechanism.Secondly,the workspace is taken to design of experiments based on the Isight software in order to get the maximum workspace and obtain the optimal structure size.Finally,organization＇s dexterity,the carrying capacity,the static stiffness and the driving force are considered into establish the multidisciplinary design optimization model.The model is solved based on the Isight to obtain the optimal structure parameters under the overall optimal performance,and the results of the performance evaluation index are analyzed by the method of reliability evaluation.This research results show that it is feasible to apply the multidisciplinary design optimization method to optimal design of parallel mechanism and build a foundation for parallel mechanism from theory to the practical application.