6自由度含弹簧被动支链的绳牵引并联机构工作空间分析  

Analysis on workspace of 6-DOF cable-spring driven parallel mechanism

作　　者：洪振宇[1] 王浩棣 许致华[1] HONG Zhen-yu;WANG Hao-di;XU Zhi-hua(School of Aeronautical Engineering,Civil Aviation University of China,Tianjin 300300)

机构地区：[1]中国民航大学航空工程学院,天津300300

出　　处：《机械设计》2022年第4期90-98,共9页Journal of Machine Design

基　　金：天津市研究生科研创新项目(2019YJSS078);中央高校基本科研业务费项目中国民航大学专项(3122018C010)。

摘　　要：为分析含弹簧被动支链的绳牵引并联机构工作空间特性,建立机构静力学模型,提出一种能直观反映绳牵引并联机构姿态空间大小的评价指标,以含2根弹簧支链的6索6自由度绳牵引并联机构为例,分析弹簧支链参数对机构工作空间性能和工作空间形状的影响。针对引入弹簧支链后出现的工作空间形状缺陷,建立缺陷部分混合位置因子-范围因子罚函数模型,并通过理想点法与遗传算法结合的方法实现了机构工作空间性能多目标优化。结果表明:通过罚函数法在优化中有效消除了可能出现的机构工作空间形状缺陷;含弹簧支链的绳牵引并联机构优化中选择适当弹簧参数,可以显著提高工作空间体积与动平台转动范围。In this article, in order to explore the characteristics of the cable-spring driven parallel mechanism’s workspace, a statics model is set up, which directly reflects the size of the mechanism’s attitude space. Based on a 6-cable-6-DOF parallel mechanism with two springs, the effect of the springs’ parameters on workspace performance and shape is analyzed. In view of the shape defects of workspace caused by the introduction of these springs, a penalty-function model of mixed location factor-range factor for defect parts of workspace is worked out and multi-objective optimization of workspace performance is realized by the combination of TOPSIS and the genetic algorithm. The results show that by means of the penalty-function method, the shape defects of workspace in the optimization process can be effectively eliminated;the workspace volume and the rotational performance of the moving platform are significantly improved by selecting appropriate parameters of the springs.

关 键 词：含弹簧支链的绳牵引并联机构 工作空间 多目标优化 罚函数法 

分 类 号：TH112.5[机械工程—机械设计及理论]