传递空间最大化的球面5R并联机构尺度优化

车林仙; 陈国旺; 杜力; 文世坤

doi:10.16578/j.issn.1004.2539.2020.06.007

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传递空间最大化的球面5R并联机构尺度优化

理论研究 | 更新时间：2022-10-20

- 传递空间最大化的球面5R并联机构尺度优化
- Dimensional Optimization of Spherical 5R Parallel Mechanism with Maximum Transmission Workspace
- 机械传动 2020年44卷第6期页码：37-43
- 作者机构：
  
  1.重庆工程职业技术学院智能制造与交通学院，重庆 402260
  2.重庆工商大学制造装备机构设计与控制重庆市重点实验室，重庆 400067
  3.重庆理工大学机械工程学院，重庆 400054
- 作者简介：
  
  车林仙（1971— ），男，四川泸州人，博士，教授，主要研究方向为机构数值分析与综合、机器人机构学、计算智能及智能优化设计等。
  陈国旺（1993— ），男，重庆开州人，在读硕士研究生，主要研究方向为并联机构学及智能算法。
- 基金信息：
  
  重庆市基础科学与前沿技术研究专项(cstc2015jcyjA70006┫重庆市教育委员会科学技术研究重点项目┣KJZD-K201803401)
- DOI：10.16578/j.issn.1004.2539.2020.06.007
  中图分类号：
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车林仙,陈国旺,杜力等.传递空间最大化的球面5R并联机构尺度优化[J].机械传动,2020,44(06):37-43.

Che Linxian,Chen Guowang,Du Li,et al.Dimensional Optimization of Spherical 5R Parallel Mechanism with Maximum Transmission Workspace[J].Journal of Mechanical Transmission,2020,44(06):37-43.
车林仙,陈国旺,杜力等.传递空间最大化的球面5R并联机构尺度优化[J].机械传动,2020,44(06):37-43. DOI： 10.16578/j.issn.1004.2539.2020.06.007.

Che Linxian,Chen Guowang,Du Li,et al.Dimensional Optimization of Spherical 5R Parallel Mechanism with Maximum Transmission Workspace[J].Journal of Mechanical Transmission,2020,44(06):37-43. DOI： 10.16578/j.issn.1004.2539.2020.06.007.

摘要

以2自由度球面5R并联机构为研究对象，应用教学优化（Teaching-learning-based optimization，TLBO）算法求解机构尺度优化设计问题。首先，采用坐标变换法推导机构位置反解方程，再以传动角为机构运动或力传递性能评价指标，进而给出球面5R并联机构的优质传递工作空间（Good transmission workspace，GTW）定义和数值计算方法。以最大化GTW面积为目标，建立机构尺度参数约束优化模型，并用TLBO算法求解该问题。结果表明，文中给出的优化模型和算法是可行有效的。

Abstract

The 2-degree-of-freedom spherical 5R parallel mechanism is taken as the research object， and teaching-learning-based optimization （TLBO） algorithm is applied to solve the optimization design problem of mechanism dimensional parameters. The expression of inverse positional analysis for the mechanism is derived by means of coordinate transformation. Consequently， the transmission angle is used as the evaluation index of motion/force transmission performance， and then the definition and numerical calculation method of good transmission workspace （GTW） are given. Taking the maximizing area of GTW as object， a constrained optimization model of dimensional parameters is established， and TLBO algorithm is employed to solve this problem. The results show that the presented model and algorithm are feasible and effective.

关键词

球面5R并联机构传动角传递工作空间尺度优化设计教学优化算法

Keywords

Spherical 5R parallel mechanismTransmission angleTransmission workspaceDimensional optimization designTeaching-learning-based optimization algorithm

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