基于遗传算法的锻造操作机缓冲机构尺度优化

Dimension optimization of buffering mechanism of forging manipulator based on genetic algorithm

为实现锻造操作机钳杆运动的精确控制,须减小竖直升降过程中钳杆在水平方向的耦合位移。针对一种新型2 t/5 t·m锻造操作机机构,提出一种通过水平缓冲机构尺度优化来提高解耦性的方法。首先建立主运动机构计算模型,定义了优化目标函数和边界条件;然后设计了优化流程图,基于遗传算法并借助MATLAB软件得到目标函数最优解;最后使用ADAMS进行仿真验证。结果表明,优化后钳杆末端耦合位移量最小为1.092 8 mm,且始终保持在误差范围(±5 mm)内,达到了运动解耦效果。

In order to achieve the precise control of the clamp motion of forging manipulator,the horizontal coupling displacement of the clamp in lifting process should be as small as possible. In light of a new type of forging manipulator mechanism,a new method to improve the decoupling is proposed by optimizing the dimension parameter of the horizontal buffering mechanism of forging manipulator. First,a mathematical model of main-motion mechanism is established,and an object function and the boundary conditions are defined. Second,an optimization flow chart is designed, the optimal solution of the object function is obtained based on genetic algorithm using MATLAB software. Finally,the result is emulated and validated in ADAMS. It shows that the minimum horizontal coupling displacement at the end of clamp is 1. 092 8 mm and remains within the error range ± 5 mm after optimization. This results satisfies the requirement of the motion decoupling of the forging manipulator.