爬楼轮椅后腿机构多目标优化设计  

Multi Objective Optimization Design of the Rear Leg Mechanism of Climbing Wheelchair

作　　者：鲁建军 范柳彬 李灿 贾利想 LU Jian-jun;FAN Liu-bin;LI Can;JIA Li-xiang(College of Mechanical Engineering, Hebei University of Technology, Tianjin 300000, China)

机构地区：[1]河北工业大学机械工程学院,天津300000

出　　处：《机械设计与制造》2019年第4期42-46,共5页Machinery Design & Manufacture

摘　　要：爬楼轮椅后腿机构是典型的平面二自由度五连杆机构,杆长尺寸对其性能产生很大的影响。为了得到最优的杆长参数,建立了五连杆机构的运动学模型和动力学模型,分别在运动学层面和动力学层面上提出了多个性能指标,以其作为目标函数和约束条件建立了机构多目标优化数学模型,利用NSGA-Ⅱ多目标遗传算法得到了Pareto最优解。最后分别以各个性能指标值最小和权衡各个性能指标值为依据列出了几组最优设计点,包括杆长参数和对应的各个性能指标值,人们可以根据设计要求和工程实际经验来权衡选取满足不同要求的优化结果。The rear leg mechanism of climbing wheelchair is the typical planar 2 degrees five-bar mechanism, and the size of the bar will have a great influence on its capability.In order to get the optimal bar-length parameter, the kinematic model and dynamic model of the five-bar mechanism were built up. Many performance indexes on the aspect of kinematics and dynamics were put forward which were took as the objective functions and constraint conditions to build up the multi-objective optimization mathematical model. The optimal solution of Pareto is carried out by using NSGA-Ⅱ multi-objective genetic algorithm. Finally, according to the minimum of every performance index and comparing every performance index, several group of optimal design points including the size of the bar and performance index values were listed. People can compare and choose the optimized solutions that meet different requirements according to the design requirement and engineer practical experience.

关 键 词：五杆机构 多目标优化 NSGA-Ⅱ遗传算法 MATLAB仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH122