液压机械臂的摆缸关节结构参数优化

Parameters Optimization of RAV of Joint Structure on Hydraulic Manipulator

以叶片式液压摆动油缸(以下简称摆缸)作为液压机械臂的驱动关节具有诸多优势。以提高机械臂的负重比为目标,对摆缸关节进行了轻量化设计。建立了优化设计数学模型,进行了优化算法及惩罚函数法分析。结合实例对摆缸的各个参数进行了优化,得到了所需转矩为63kN·m,叶片数为2,系统总效率为0.9时的摆缸参数优化结果。对结果进行了分析,得到了所需转矩与摆缸质量的关系曲线,摆缸质量与所需转矩、叶片长度的关系曲面,以及所需转矩与多个优化目标的关系曲线。建立了摆缸三维模型,采用有限元法对优化结果进行了验证,并证实了优化结果的合理性和正确性。

The driving joints of the hydraulic manipulator based on the hydraulic rotary vane actuators(RVA)have many advantages.Aiming for improve the load-bearing ratio of the manipulator,the lightweight design of the RVA joint is carried out.The optimization design mathematical model was established,and the optimization algorithm and penalty function method were analyzed.The parameters of RVA were optimized with the example.The optimized results of the parameters of the swing cylinder with the required torque of 63 kN·m,the number of vanes of 2 and the total system efficiency of 0.9 were obtained by combining the examples.Through the analysis of the results,the relationship between the required torque and the mass of the RVA,the mass of the RVA and the required torque and the length of the blade,the required torque and multiple optimization objectives were obtained.RVA three-dimensional(3D)model was established.The finite element method(FEM)is used to verify the optimization results,which rationality and correctness are confirmed.