传递空间最大化的4-PRPaU并联机构尺度综合  

Dimensional synthesis for the 4-PRP_aU parallel mechanism with maximum transmission workspace

作　　者：车林仙[1,2] 文世坤 陈国旺 林雪冬[1] 蒋海义 CHE Lin-xian;WEN Shi-kun;CHEN Guo-wang;LIN Xue-dong;JIANG Hai-yi(School of Intelligent Manufacturing and Traffic,Chongqing Vocational Institute of Engineering,Chongqing 402260;Chongqing Municipal Key Laboratory of Mechanism Design and Control for Manufacturing Equipment,Chongqing Technology and Business University,Chongqing 400067;School of Mechanical Engineering,Chongqing University of Technology,Chongqing 400054)

机构地区：[1]重庆工程职业技术学院,智能制造与交通学院,重庆402260 [2]重庆工商大学,制造装备机构设计与控制重庆市重点实验室,重庆400067 [3]重庆理工大学机械工程学院,重庆400054

出　　处：《机械设计》2020年第10期97-106,共10页Journal of Machine Design

基　　金：重庆市基础科学与前沿技术研究专项(cstc2015jcyjA70006);重庆市教育委员会科学技术研究重点项目(KJZD-K201803401);重庆市教育委员会科学技术研究青年项目(KJQN 201903409);重庆工程职业技术学院科研项目(KJB201911)。

摘　　要：以三移动一转动4-PRPaU并联机构为研究对象,采用人工蜂群(Artificial Bee Colony,ABC)算法求解机构尺度综合问题。应用坐标变换和矢量法,推导出机构位置逆解解析表达式。以旋量理论为工具,建立机构运动和力传递性能评价指标,给出规则有效传递工作空间(Regular Effective Transmission Workspace,RETW)定义和数值计算方法。以RETW半径最大为目标,建立机构尺度参数约束优化设计模型,并应用加速人工蜂群(Accelerated Artificial Bee Colony,a ABC)算法求解该问题,给出机构尺度优化设计实例。结果表明,文中的优化模型和算法可行有效。还比较了基本ABC和a ABC算法求解该尺度设计实例的寻优能力,数值试验显示,a ABC算法的性能指标优于基本ABC算法。This article focuses on the 4-PRPaU parallel mechanism with three translational and one rotational degrees of freedom.The Artificial Bee Colony(ABC)algorithm is adopted for dimensional synthesis of this mechanism.The solutions to inverse-displacement analysis on this mechanism are formulized by means of the coordinate transformation and vector methods.With the screw theory as a mathematical tool,the evaluation indexes for motion/force transmission performance are identified,and the methods of definition and numerical calculation of Regular Effective Transmission Workspace(RETW)are worked out.The constrained optimization model is set up to work out the dimensional parameters with the maximized radius of RETW,and the Accelerated Artificial Bee Colony(a ABC)algorithm is employed to solve this problem.The example of dimensional optimization design is given,and the result shows that both the optimized model and the algorithm are feasible and effective.In addition,with regard to dimensional design,the comparative analysis is conducted on the global optimization capability of the basic ABC and a ABC algorithms,and the numerical experiments show that a ABC outperforms basic ABC in terms of performance index.

关 键 词：并联机构 传递性能指标 传递工作空间 尺度优化设计 人工蜂群算法 

分 类 号：TH112[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]