基于性能驱动的船载稳定平台尺度参数优化设计

doi:10.13973/j.cnki.robot.210531

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (1040 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
田文杰, 吕东坡, 张相鹏. 基于性能驱动的船载稳定平台尺度参数优化设计[J]. 机器人, 2023, 45(1): 78-88.DOI: 10.13973/j.cnki.robot.210531. TIAN Wenjie, Lü Dongpo, ZHANG Xiangpeng. Performance Driven Optimal Design of Dimensional Parameters for a Shipborne Stable Platform. ROBOT, 2023, 45(1): 78-88. DOI: 10.13973/j.cnki.robot.210531.

摘要为提升船载稳定平台的运动学性能,针对3-UPS&S并联机构的尺度参数优化问题,以机构的工作空间体积和全域力传递率为综合评价指标,采用小生境遗传算法优化得到稳定平台的最佳几何构形。具体地,采用数值法与解析法相结合的方式判断支链长度、关节转角、奇异位形等约束条件的生效情况,求解出并联稳定平台的工作空间;基于力雅可比矩阵逆矩阵的最小奇异值定义机构的局部力传递性能,以工作空间内局部力传递率的平均值作为全域力传递性能评价指标;以工作空间体积和全域力传递率的加权和为优化目标,采用小生境自适应遗传算法完成优化求解,获得最优尺度参数。与初始构形的性能对比分析表明,优化构形在力传递性能方面有35%的提升,具有更好的综合运动学性能。制作试验样机并完成相关实验,验证了所提尺度参数优化方法的有效性。最后探讨了多目标优化过程中不同的权重系数取值对优化结果的作用规律,发现选用均衡的权重可获得更佳的综合性能。

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	田文杰
	吕东坡
	张相鹏

关键词 ：船载, 并联稳定平台, 尺度优化, 工作空间, 力传递性能, 小生境遗传算法

Abstract：For the dimensional parameter optimization of 3-UPS&S parallel mechanism, an optimal geometric configuration of the shipborne stable platform is obtained to improve its kinematics performance by niche genetic algorithm with the workspace size and global force transmission rate as design indices. Specifically, a combination of numerical and analytical methods is used to determine the validity of constraint conditions such as branch chain length, joint rotation angle, singularity, etc., and to solve the workspace of the parallel stable platform. The minimum singular value of the inverse of force Jacobian matrix is used to define the local force transmission index, and the average value of the local force transmission rate in the workspace is used as the global force transmission index. Taking the weighted sum of the workspace size and the global force transmission rate as the optimization objective, the niche adaptive genetic algorithm is used to complete the optimization solution and obtain the optimal dimensional parameters. The performance comparative analysis with the initial configuration shows that the optimized configuration achieves a 35% improvement in force transmission performance and has better comprehensive kinematics performance. A test prototype is manufactured and related experiments are carried out to verify the effectiveness of the proposed optimization method for dimensional parameters. Finally, the law of the effect of different weight coefficients on the optimization results in the process of multi-objective optimization is discussed, and it is found that better comprehensive performance can be achieved by balanced weights.

Key words： shipborne parallel stable platform dimensional optimization workspace force transmission performance niche genetic algorithm

收稿日期: 2021-12-13 录用日期: 2022-01-27

ZTFLH:

TH122

基金资助:天津市企业科技特派员项目(20YDTPJC01010);国家重点研发计划(2018YFC1407400).

通讯作者: 田文杰, wenjietian@tju.edu.cn E-mail: wenjietian@tju.edu.cn

作者简介: 田文杰(1986-),男,博士,副教授。研究领域:工业机器人及数控加工装备的精度分析、设计与误差补偿。
吕东坡(1996-),男,硕士生。研究领域:船载并联稳定平台的优化设计与运动控制。
张相鹏(1998-),男,硕士生。研究领域:并联稳定平台的误差分析与运动学标定。

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.210531 或 https://robot.sia.cn/CN/Y2023/V45/I1/78

[1] 刘晓,赵铁石,边辉,等.耦合型3 自由度并联稳定平台机构动力学分析[J].机械工程学报, 2013, 49(1):45-52. Liu X, Zhao T S, Bian H, et al. Dynamics analysis of a 3-DOF coupling parallel mechanism for stabilized platform[J]. Journal of Mechanical Engineering, 2013, 49(1):45-52.
[2] 黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社, 2006. Huang Z, Zhao Y S, Zhao T S. Advanced spatial mechanism[M]. Beijing:Higher Education Press, 2006.
[3] Gosselin C M, Jean M. Determination of the workspace of planar parallel manipulators with joint limits[J]. Robotics and Autonomous Systems, 1996, 17(3):129-138.
[4] Aboulissane B, El Haiek D, El Bakkali L, et al. On the workspace optimization of parallel robots based on CAD approach[J]. Procedia Manufacturing, 2019, 32:1085-1092.
[5] Castelli G, Ottaviano E, Ceccarelli M. A fairly general algorithm to evaluate workspace characteristics of serial and parallel manipulators[J]. Mechanics Based Design of Structures and Machines, 2008, 36(1):14-33.
[6] Peidró A, Reinoso Ó, Gil A, et al. An improved Monte Carlo method based on Gaussian growth to calculate the workspace of robots[J]. Engineering Applications of Artificial Intelligence, 2017, 64:197-207.
[7] Bohigas O, Manubens M, Ros L. A complete method for workspace boundary determination on general structure manipulators[J]. IEEE Transactions on Robotics, 2012, 28(5):993-1006.
[8] Rouhani E, Nategh M J. Workspace, dexterity and dimensional optimization of microhexapod[J]. Assembly Automation, 2015, 35(4):341-347.
[9] 张新.一种3-UPS/S球面并联机构的运动参数优化研究[D].秦皇岛:燕山大学, 2013. Zhang X. Optimization of motion parameters of a 3-UPS/S spherical parallel mechanism[D]. Qinhuangdao:Yanshan University, 2013.
[10] Chen X, Chen C, Liu X J. Evaluation of force/torque transmission quality for parallel manipulators[J]. Journal of Mechanisms and Robotics, 2015, 7(4). DOI:10.1115/1.4029188.
[11] Liu X J, Wu C, Wang J S. A new approach for singularity analysis and closeness measurement to singularities of parallel manipulators[J]. Journal of Mechanisms and Robotics, 2012, 4(4). DOI:10.1115/1.4007004.
[12] Wu G L, Zou P. Comparison of 3-DOF asymmetrical spherical parallel manipulators with respect to motion/force transmission and stiffness[J]. Mechanism and Machine Theory, 2016, 105:369-387.
[13] Liu H T, Huang T, Kecskeméthy A, et al. A generalized approach for computing the transmission index of parallel mechanisms[J]. Mechanism and Machine Theory, 2014, 74:245-256.
[14] 刘海涛,熊坤,贾昕胤.等. 3自由度冗余驱动下肢康复并联机构的运动学优化设计[J].天津大学学报(自然科学与工程技术版), 2018, 51(4):357-366. Liu H T, Xiong K, Jia X Y, et al. Kinematic optimization of a redundantly actuated 3-DOF parallel mechanism for lower-limb rehabilitation[J]. Journal of Tianjin University (Natural Science and Engineering Technology Edition), 2018, 51(4):357-366.
[15] 叶伟,谢镇涛,李秦川.一种可用于微创手术的并联机构运动学分析与性能优化[J].机械工程学报, 2020, 56(19):103-112. Ye W, Xie Z T, Li Q C. Kinematics analysis and performance optimization of a parallel manipulator for minimally invasive surgery[J]. Journal of Mechanical Engineering, 2020, 56(19):103-112.
[16] 陈为林,冯梓泓,卢清华,等.多模式刚柔结合欠驱动抓取机构的设计、分析与实验测试[J].机器人, 2022, 44(2):139-152. Chen W L, Feng Z H, Lu Q H, et al. Design, analysis and experimental test of a multi-mode rigid-flexible underactuated grasping mechanism[J]. Robot, 2022, 44(2):139-152.
[17] 肖宇光,高峰.基于多约束条件下的机器人尺寸综合优化[J].机械设计, 2021, 38(4):1-8. Xiao Y G, Gao F. Dimension optimization of robots based on multi-constraints[J]. Machine Design, 2021, 38(4):1-8.
[18] 温海营,戴敏,张慧,等.含被动高副的冗余驱动并联机器人优化设计[J].机器人, 2021, 43(6):694-705. Wen H Y, Dai M, Zhang H, et al. Optimal design of a redundantly actuated parallel robot with passive higher kinematic pair[J]. Robot, 2021, 43(6):694-705.
[19] 程元皓,王孙安,于德弘.仿生并联眼动机构多目标优化设计[J].机器人, 2017, 39(2):176-181. Cheng Y H, Wang S A, Yu D H. Multi-objective optimization design of a bionic parallel oculogyric mechanism[J]. Robot, 2017, 39(2):176-181.
[20] Shen Y, Jia Q X, Chen G, et al. Study of rapid collision detection algorithm for manipulator[C]//IEEE 10th Conference on Industrial Electronics and Applications. Piscataway, USA:IEEE, 2015:934-938.
[21] Li B K, Wang K, Han Y G, et al. Singularity property and singularity-free path planning of the Gough-Stewart parallel mechanism[J]. International Journal of Advanced Robotic Systems, 2017, 14(6). DOI:10.1177/1729881417734971.
[22] 杨建涛.并联折叠式舰载稳定平台机构分析与控制理论研究[D].秦皇岛:燕山大学, 2015. Yang J T. Mechanism analysis and control theory research on ship-based stabilizing platform with foldable parallel mechanism[D]. Qinhuangdao:Yanshan University, 2015.
[23] 郭菲.电液驱动3-UPS/S并联稳定平台机构优化及动力学模型研究[D].秦皇岛:燕山大学, 2016. Guo F. Research on dynamic model and optimization of electrohydraulic 3-UPS/S parallel stabilized platform[D]. Qinhuangdao:Yanshan University, 2016.
[24] Zhang H Z, Liu F, Zhou Y Y, et al. A hybrid method integrating an elite genetic algorithm with tabu search for the quadratic assignment problem[J]. Information Sciences, 2020, 539:347-374.