基于遗传算法的3-PCR减振平台等效刚度设计  

Design of the Equivalent Stiffness in the 3-PCR Vibration Reduction Platform based on Genetic Algorithm

作　　者：郑良辰 牛军川[1,2] 张福亮 刘知辉[1] Zheng Liangehen;Niu Junehuan;Zhang Fuliang;Liu Zhihui(School of Mechanical Engineering,Shandong University,Ji＇nan 250061,China;Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education Shandong University,Ji＇nan 250061,China)

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]山东大学高效洁净机械制造教育部重点实验室,山东济南250061

出　　处：《机械传动》2018年第8期55-60,103,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51275275;51675306);国家重点研发计划项目(2016YFC0801704;2016YFC0801702)

摘　　要：基于3-PCR并联机构,通过在主动副处添加弹簧阻尼装置构建并联减振平台,推导了3-PCR机构的运动学方程并对其工作空间进行了分析。选择该减振平台上下平台半径、杆长以及杆与下平台夹角作为设计变量,研究了上述4参数对最大球形工作空间的影响规律。引入等效刚度的概念,采用遗传算法对上述参数进行了优化设计,以期得到满足特定等效刚度要求的减振平台,该平台在微幅振动下其等效刚度值接近恒定。工程应用中减振平台的等效刚度均可使用该设计方法予以实现,为基于并联机构的减振平台设计提供了一种新方法。By installing spring-dampers in the active joints,the multi-dimensional damping platform is set up based on the 3-PCR parallel mechanism. The kinematics equation of the 3-PCR parallel mechanism is derived and the workspace is analyzed. The radii of the upper and lower platforms,the bar length and the angle between the bar and the lower platform are chosen as the optimization variables to investigate their influence on the maximum sphere workspace. The above-mentioned parameters are optimized by genetic algorithm so as to obtain the vibration platform which meets the particular demand of the equivalent stiffness which is nearly constant when the vibration amplitude is small. The equivalent stiffness of vibration reduction platform in engineering application can be realized by using this design method. The presented design process of equivalent stiffness provides a novel approach for the vibration reduction platform design based on parallel mechanism.

关 键 词：并联机构 多维隔振 优化设计 等效刚度 遗传算法 

分 类 号：TH112[机械工程—机械设计及理论]