基于多目标优化算法的并联机构综合设计  

Integrated Design of Parallel Mechanism Based on Multi-objective Optimization

作　　者：丁锐 曹毅 Ding Rui;Cao Yi(School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China;State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao-tong University,Shanghai 200240,China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Wuxi 214122,China)

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]江苏省食品先进制造装备技术重点实验室,江苏无锡214122 [3]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《机械制造与自动化》2018年第5期20-23,共4页Machine Building & Automation

基　　金：机器人技术与系统国家重点实验室开放基金资助项目(SKLRS-2012-MS-07);江苏省食品先进制造装备技术重点实验室开放课题资助项目(FM-201402)

摘　　要：针对并联机构尺寸综合设计参数多、关系复杂的问题,以少自由度并联机构为研究对象进行尺度综合。首先,基于雅可比矩阵的性能指标条件数、刚度、速度极值作为目标函数。其次,采用罚函数法处理约束条件,提出性能分类的方式来作为多目标优化的准则,最后利用遗传算法进行参数优化。分别构建了以条件数、刚度性能指标最优为目标的双目标优化模型和以条件数、刚度性能和速度极值指标最优为目标的三目标优化模型,对这2个方案基于提出的尺寸综合方法进行优化,得到符合设计要求和约束条件的尺寸参数。Dimensional synthesis on parallel mechanism is presented,which is used to solve the problems of multi dimension and complex relation of its design parameters.The condition number,the stiffness and the velocity maximal value are taken as the objective function based on the Jacobi matrix,the penalty function method is used to deal with the constraint conditions,and the performance classification method is proposed as the criterion of multi-objective optimization,and then,the genetic algorithm is used to optimize the parameters.The double objects optimization model with the number of conditions and the stiffness performance index and three objects optimization model with the condition number,the stiffness performance and speed maximal value index are built.This method is optimized based on the scheme above.The got parameters meet the design requirements and constraint conditions.

关 键 词：并联机构 性能指标 雅可比矩阵 罚函数 多目标 遗传算法 

分 类 号：TH112[机械工程—机械设计及理论]