基于UPS-RPU-PU并联机构的液压支架试验台多目标优化  

Multi-objective optimization of hydraulic support test-bed based on UPS-RPU-PU parallel mechanism

作　　者：彭斯洋 程志红[1] 车林仙[2,3] 黄鑫 崔松 PENG Siyang;CHENG Zhihong;CHE Linxian;HUANG Xin;CUI Song(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou 221116,China;School of Intelligence Manufacturing and Traffic,Chongqing Vocational Institute of Engineering,Chongqing 402260,China;Chongqing Municipal Key Laboratory of Mechanism Design and Control for Manufacturing Equipment,Chongqing Technology and Business University,Chongqing 400067,China)

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116 [2]重庆工程职业技术学院智能制造学院,重庆402260 [3]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

出　　处：《中南大学学报（自然科学版）》2023年第7期2683-2694,共12页Journal of Central South University:Science and Technology

基　　金：国家重点研发计划项目(2018YFB1308303);重庆市自然科学基金资助项目(cstc2020jcyjmsxmX0074);江苏省研究生科研创新计划项目(KYCX21_2187)。

摘　　要：提出一种非对称1T2R型UPS-RPU-PU并联机构,并基于该机构设计一种新型液压支架试验台,以期为解决现有试验台面临的技术难题提供新思路。应用矢量方程法推导出并联机构位置逆解方程;采用方位角和倾摆角描述机构偏置式动平台输出轴的姿态。以螺旋理论为数学工具,建立机构运动/力传递性能指标的解析数学模型。在此基础上,给出优质传递姿态工作空间(GTOW)、全域传递性能指标(GTI)及其波动性能指标的定义和计算方法。依据液压支架加载试验实际需求,建立并联加载装置尺度参数昂贵约束多目标优化模型。采用第2代非支配排序遗传算法(NSGA-II)求得多组Pareto最优解,以供工程设计备选。选择综合性能较优的一组折中解,设计新型液压支架试验台虚拟样机,并利用ANSYS进行3种典型工况下的仿真试验。研究结果表明:基于并联机构的新型试验台具有良好的运动性能和静态特性,可为进一步开展模型样机研制和试验提供理论指导。An asymmetric 2R1T parallel mechanism(PM),named as UPS-RPU-PU PM,was proposed,and then a novel hydraulic support test-bed was designed based on this mechanism to provide a new idea for solving the technical problems faced by existing test-bed.The equation of inverse displacement was deduced by means of vector method.The azimuth and tilt angles were used to depict the orientation of deviating output axis on the moving platform.With the screw theory as mathematical tool,the analytical mathematical modes of motion/force transmissibility indices for mechanism were established.On this basis,the definitions and calculation methods of good transmission orientation capability(GTOW),global transmission index(GTI)and its fluctuation indices were presented.According to actual requirements of loading test for tested supports,the expensive constrained multiobjective optimization model was constructed to formulate the design problem of dimensional parameters of parallel loading device.The NSGA-II was employed to obtain multi Pareto optimal solutions for engineering alternatives,and a set of compromise solution with better comprehensive performance was selected to design the virtual prototype of novel hydraulic support test-bed,and the simulation tests under three typical working conditions were carried out by using ANSYS.The results show that the novel test-bed based on parallel mechanism has good kinematic performance and static characteristics,which provides theoretical guidance for the further development of model prototype and test.

关 键 词：液压支架试验台 并联机构 运动/力传递性能 优质传递姿态工作空间 多目标优化 

分 类 号：TH112[机械工程—机械设计及理论]