考虑失效相关性的行星摆线减速器结构多目标优化设计  

Multi-objective Optimization Design of Planetary Cycloidal Reducer Structure with Considering Failure Correlation

作　　者：郑胜予 赵刚 肖正明[1] 谭加林 刘佳伟 Zheng Shengyu;Zhao Gang;Xiao Zhengming;Tan Jialin;Liu Jiawei(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650550,China;2705 Research Institute Kunming Branch,China State Shipbuilding Corporation Limited,Kunming 650102,China)

机构地区：[1]昆明理工大学机电工程学院,云南昆明650550 [2]中船集团有限公司第705研究所昆明分部,云南昆明650102

出　　处：《机械传动》2022年第6期64-72,共9页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51965025);国家重点研发计划“智能机器人”重点专项(2018YFB1306100);云南省重点研发计划-国际科技合作专项(202003AF140007);云南省基础研究计划面上项目(202201AT070103)。

摘　　要：行星摆线减速器的可靠性直接影响工业机器人的整体性能和使用寿命,其中,两级传动子部件的可靠性对减速器整机可靠性具有重要影响。以某型重载行星摆线减速器为研究对象,基于两级传动系统子部件的受力分析,分别构建各子部件的可靠性数学模型,并通过Copula函数对可靠度进行相关性耦合,构建了考虑失效相关性的系统可靠性模型;在此基础上,构建体积最小、可靠度最高的多目标优化模型,采用带精英策略的快速非支配排序遗传算法(Non-dominated sorted genetic algorithm-Ⅱ,NSGA-Ⅱ)进行求解,并与考虑独立性假设的系统可靠性模型做了对比分析。结果表明,优化后,减速器体积减小了11.27%,可靠度提高了5.29%;考虑失效相关性的优化设计方法可以有效提高行星摆线减速器的可靠性,并具有更高的综合性能。The reliability of the planetary cycloidal reducer directly affects the overall performance and service life of industrial robots,among which the reliability of two-stage drive subcomponents has an important influence on the reliability of the whole planetary cycloidal reducer.Taking a heavy-duty planetary cycloidal reducer as the research object,the reliability mathematical model of each subcomponent is constructed based on the force analysis of two-stage transmission system subcomponents,and the reliability is correlated and coupled by Copula function to construct a system reliability model considering failure correlation;on this basis,a multiobjective optimization model with minimum volume and maximum reliability is constructed,and NSGA-Ⅱ(Non-dominated sorted genetic algorithm-Ⅱ)algorithm is used to solve the model,and it is compared and analyzed with the system reliability model considering the independence assumption.The results show that,after optimization,the volume of the reducer is reduced by 11.27%,and the reliability is improved by 5.29%,and the optimal design method considering failure correlation can effectively improve the reliability of the planetary cycloidal reducer with higher comprehensive performance.

关 键 词：行星摆线减速器 失效相关性 可靠度 多目标优化 

分 类 号：TH132.46[机械工程—机械制造及自动化]