含U支链稳定调姿平台构型及其多目标优化设计  

Configuration synthesis and multi-objective optimization of stable attitude-adjustment platform with U-branch chain

作　　者：刘毅[1,2] 马小腾 刘晓飞 姚建涛[1] 赵永生[1] LIU Yi;MA Xiaoteng;LIU Xiaofei;YAO Jiantao;ZHAO Yongsheng(Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao 066004;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004 [2]河北工业大学机械工程学院,天津300130

出　　处：《机械设计》2024年第12期31-45,共15页Journal of Machine Design

基　　金：高协调性超冗余驱动并联机构构型综合与最优协调策略研究(52105036)

摘　　要：雷达本身即为精密仪器,其测量精度需由稳定平台运行的平稳程度及姿态精度来保障。针对高性能雷达对其辅助稳定平台的大承载、高精度和小体积的要求,以大型舰载雷达稳定平台为研究对象,分别从含特定支链型综合方法、平台机构运动学分析和平台多目标参数优化设计方面进行研究。根据舰载雷达运行环境需求,确定稳定平台以含U支链的并联机构作为基础构型。基于约束螺旋理论,综合出少自由驱动分支的并联机构构型,并优选2RRPU/2RPU/U机构。此外,求解2RRPU/2RPU/U机构解析位置正反解、速度雅可比矩阵。基于NSGA-Ⅱ(Non-dominated Sorting Genetic AlgorithmⅡ)算法,对体积、灵巧度和力性能指标进行多目标参数优化,通过训练获得最优解集。搭建Simulink-MCD参数化动力学模型,对最优解集进行动力学参数优化,最终获得平台的最优结构参数,该研究为船舰稳定平台构型设计与基于动力学指标的优化提供方法思路。The radar is a precision instrument,whose accuracy in measurement calls for smooth operation of a stable platform and its accurate attitude.Since the high-performance radar needs an auxiliary stable platform with large load capacity,high precision and small volume,this article focuses on the large shipboard radar’s stable platform;the research is carried out from the following aspects:comprehensive method with the specific branch chain,kinematic analysis on the platform mechanism,and multiobjective parameter optimization of the platform.According to the environment requirements of shipboard radar operation,the parallel mechanism with the U-branch chain is identified as the stable platform’s basic configuration.Based on the constrained spiral theory,the parallel mechanism’s configuration with fewer freedom-driven branches is synthesized,and the 2RRPU/2RPU/U mechanism is preferred.In addition,efforts are made to explore the 2RRPU/2RPU/U mechanism as well as work out the position’s positive and negative solutions and the velocity Jacobi.With the help of NSGA-Ⅱ(Non-dominated Sorting Genetic AlgorithmⅡ),multi-objective parameter optimization is performed on such performance indexes as volume,dexterity and force;the optimal solution set is obtained through training.A Simulink-MCD parametric dynamic model is set up to optimize the optimal solution set’s dynamic parameters and finally obtain the platform’s optimal structural parameters.This study provides methodological ideas for configuration design of shipboard-oriented stable platforms and optimization design based on dynamic indexes.

关 键 词：稳定平台 并联机构 构型综合 运动学分析 多目标参数优化 NSGA-Ⅱ 

分 类 号：TH112[机械工程—机械设计及理论]