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基于Isight的3—UPS—S并聯(lián)機(jī)器人機(jī)構(gòu)多目標(biāo)優(yōu)化
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國家自然科學(xué)基金資助項(xiàng)目（51075118、51175143）


Multi-objective Optimization of 3—UPS—S Parallel Mechanism Based on Isight
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    摘要:

    綜合考慮并聯(lián)機(jī)器人機(jī)構(gòu)工作空間,、靈巧度、承載能力,、剛度等多方面性能要求,，以3—UPS—S型并聯(lián)機(jī)構(gòu)為例，基于Isight集成Matlab,、Pro/E,、ANSYS等軟件，構(gòu)建多目標(biāo)優(yōu)化設(shè)計(jì)基本流程,，進(jìn)行并聯(lián)機(jī)構(gòu)多目標(biāo)尺度綜合,，建立一種并聯(lián)機(jī)構(gòu)多目標(biāo)優(yōu)化的方法。研究結(jié)果表明,，該方法可以有效集成各領(lǐng)域工程軟件進(jìn)行組合試驗(yàn)設(shè)計(jì)與多目標(biāo)優(yōu)化,，實(shí)現(xiàn)自動(dòng)計(jì)算運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)性能指標(biāo)、自動(dòng)三維模型建立及有限元分析等步驟,，得到Pareto圖及Pareto前沿,，決策者可根據(jù)優(yōu)化信息選取合適的最優(yōu)解。

    Abstract:

    With the overall consideration of the various performance of the parallel robot (e.g. workspace, dexterity, bearing capacity, stiffness, etc.), a basic procedure was carried out for the multi-objective optimization with the example of 3—UPS—S based on the integration of Matlab, Pro/E, ANSYS by Isight, and a multi objective dimensional synthesis was carried out for the parallel mechanism. Thus, a method was proposed for the multi-objective optimization of parallel mechanism based on Isight. The result of the analysis indicated that the proposed method could automatically solve the kinematic and dynamic performance, achieve modeling and finish the finite element analysis for the design of experiments and multi-objective optimization with the integration of the engineering software. Through the Pareto graph and the Pareto front obtained, the designer could select the appropriate optimal solution for the parallel mechanism with more information.

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崔國華,周海棟,王南,張海強(qiáng).基于Isight的3—UPS—S并聯(lián)機(jī)器人機(jī)構(gòu)多目標(biāo)優(yōu)化[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(9):261-266. Cui Guohua, Zhou Haidong, Wang Nan, Zhang Haiqiang. Multi-objective Optimization of 3—UPS—S Parallel Mechanism Based on Isight[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(9):261-266.

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  • 在線發(fā)布日期: 2013-09-11
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