基于综合操作性能指标的操作机多目标优化  

Multiobjective Optimization for the Forging Manipulator Based on the Comprehensive Manipulation Performance Indices

作　　者：孙文杰[1] 李刚[1] 

机构地区：[1]大连理工大学工业装备结构分析国家重点实验室,大连116024

出　　处：《机械工程学报》2014年第17期52-60,共9页Journal of Mechanical Engineering

基　　金：国家重点基础研究发展计划资助项目(973计划;2006CB705403)

摘　　要：为了更好地满足不同工作任务的要求,结合前人的研究工作提出一种基于综合操作性能指标的锻造操作机多目标优化设计策略。以速度性能、力承载性能和运动解耦性能来综合评价操作机的操作性能,借鉴机器人学中可操作性椭球的概念对速度性能和力承载性能进行相应的量化评估,并根据工作性能对方向性的要求分别定义二者的方向可操作度,引入全域性能的平均指标和波动指标精细评估操作机在整个工作空间上的操作性能。基于所提出的性能评价指标体系利用多目标遗传算法NSGA II对某型操作机的主运动机构参数进行优化设计,使操作机的综合操作性能达到最佳。结果表明所提出的操作机性能评价和优化方法是可行的,可以为操作机的机构设计提供参考。To meet the performance requirements better in different cases, a multiobjective optimization strategy is presented for the comprehensive manipulation performance indices of the forging manipulator based on the previous work. The velocity dexterity, force bearing capability and kinematic decoupling are selected to evaluate the manipulation performance of the manipulator. The velocity dexterity and force capability are analyzed based on the manipulability ellipsoid, and their directional manipulability measurement is defined in terms of the directional property of the manipulation performance. Two global performance indices, which consider the mean value and standard deviation of the manipulation performance, are used to measure the manipulation performance over the entire workspace. The multiobjective optimization based on the proposed performance evaluation system is performed using NSGA II algorithm, to improve the comprehensive performance indices of the manipulator by optimizing the mechanism parameters. The optimization result shows that the proposed performance evaluation and optimization method for the forging manipulator are feasible, which are helpful to practical design of the manipulator.

关 键 词：锻造操作机 操作性能 方向可操作度 全域性能 多目标优化 

分 类 号：TH122[机械工程—机械设计及理论]