非对称2UPS-UP并联机构性能分析及尺度多目标优化
Performance Analysis and Dimensional Multi-objective Optimization for an Asymmetry 2UPS-UP Parallel Mechanism
- 机械传动 2021年45卷第9期 页码：23-31
- 作者机构：
1.泸州职业技术学院 机械工程学院， 四川 泸州 646600
2.重庆工程职业技术学院 智能制造学院， 重庆 402260
3.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
- 作者简介：
易建（1970— ），男，四川泸县人，副教授；研究方向为机构学及机械优化设计。
车林仙（1971— ），男，四川泸州人，教授；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。
- 基金信息：重庆市自然科学基金资助项目(cstc2020jcyj-msxmX0074┫重庆市教育委员会科学技术研究重点项目┣KJZD-K2018 03401)
DOI：10.16578/j.issn.1004.2539.2021.09.004
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易建,车林仙,何兵等.非对称2UPS-UP并联机构性能分析及尺度多目标优化[J].机械传动,2021,45(09):23-31.
Yi Jian,Che Linxian,He Bing,et al.Performance Analysis and Dimensional Multi-objective Optimization for an Asymmetry 2UPS-UP Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(09):23-31.
易建,车林仙,何兵等.非对称2UPS-UP并联机构性能分析及尺度多目标优化[J].机械传动,2021,45(09):23-31. DOI： 10.16578/j.issn.1004.2539.2021.09.004.
Yi Jian,Che Linxian,He Bing,et al.Performance Analysis and Dimensional Multi-objective Optimization for an Asymmetry 2UPS-UP Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(09):23-31. DOI： 10.16578/j.issn.1004.2539.2021.09.004.
摘要
以一种两转动一移动非对称2UPS-UP并联机构为研究对象，对其进行了性能分析和尺度参数多目标优化。机构自由度由恰约束支链UP确定，即机构可实现绕该支链U副中心的两转动运动和沿P副的移动运动。给出正逆向位置符号解，且正逆解具有部分运动解耦特性，有利于后续误差分析、轨迹规划与控制。应用矢量法推导出速度表达式，根据速度Jacobian矩阵分析了机构奇异位形。以旋量代数为工具，给出了机构运动和力传递性能评价指标。在机构性能评价和工作空间分析的基础上，建立了机构尺度参数昂贵约束多目标优化模型，并采用多目标进化算法求解该问题，得到多组Pareto最优解。
Abstract
Taking an asymmetry 2UPS-UP parallel mechanism with two rotational and one translational degrees of freedom as the research object， the performance analysis and multi-objective optimization of dimensional parameters for the mechanism are presented. The degrees of freedom of the mechanism are determined by the suitable constraint branch UP， so the mechanism can perform two rotational motions around the center of U pair and one translational motion along the P pair of the branch. The symbolic solutions to the forward and inverse displacement analysis are derived. This mechanism with the partial motion-decoupling characteristics is of great benefit to subsequent research such as error analysis， motion trajectory planning， and control. This study proposes the analytic expressions of velocity analysis by means of the vector method. With the aid of the singularity of speed Jacobian matrix， the possible singular configurations of the mechanism are analyzed. Screw algebra is used as a mathematic tool to give the evaluation indices for motion and force transmission performances of the mechanism. Based on the performance evaluation and workspace analysis， an expensive constrained optimization model is constructed to formulate the design problem of dimensional parameters. Furthermore， a multi-objective evolutionary algorithm is employed to solve this problem， and multiple Pareto optimal solutions are obtained.
关键词
并联机构位置分析传递性能指标姿态工作空间进化多目标优化
Keywords
Parallel mechanismDisplacement analysisTransmission performance indexOrientational workspaceEvolutionary multi-objective optimization
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