摘要
针对并联机构等比例缩放后具有相同的性能指标,以及性能指标受量纲选择影响的问题,该文采用特征长度方法对雅克比矩阵进行无量纲化处理,通过分析影响构型参数优化的6个设计变量并对其进行简化,确定了其中2个为多目标优化最终变量。采用多目标优化算法NSGA-2对工作空间内切球半径、全局灵巧度和全局负载能力指数3个性能指标求解一组Pareto最优解集,在保证基本工作空间的前提下,从中选取一组符合工程的最优解。该方法比传统的单目标优化方法更适合工程实际应用。
In order to solve the problems that the parallel mechanism has the same performance after the same proportion zoom and the performance index is related with the dimension selection,the Jacobian matrix is dealt with dimensionless by using the characteristic length method to ensure the continued optimization of the configuration parameters. By analyzing the impact of 6 design variables on the configuration parameter optimization and determining the 2 of 6 variables as the final multi-objective optimization variables,a set of optimal Pareto solutions is gotten and among them a group of optimal solution in accordance with the engineering is obtained under the premise that the workspace size can be obtained by the multi-objective NSGA-2 optimization algorithm for the 3 performance indexes of workspace inradius,global dexterity and global load capacity index. All the results show that the NSGA-2 method is more valuable for practical engineering than the traditional single objective optimization method.
作者
邹上元
刘海瑞
蒋延杰
刘艳梨
吴洪涛
Zou Shangyuan;Liu Hairui;Jiang Yanjie;Liu Yanli;Wu Hongtao(Department of Automotive Engineering,Jiangsu College of Safety Technology,Xuzhou 221011,China;Department of Electrical Engineering,Jiangsu College of Safety Technology,Xuzhou 221011,China;College of MechanicalEngineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China)
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2019年第2期147-153,共7页
Journal of Nanjing University of Science and Technology
基金
江苏省高等学校自然科学研究项目(17KJB460003)
国家自然科学基金(51375230
51705243)
江苏省自然科学基金(BK20170783
BK20170315)
关键词
微重力模拟平台
构型参数
多目标优化
NSGA-2
microgravity simulation platform
configuration parameters
multi-objective optimization
NSGA-2
