摘要
【目的】针对水下纯水液压机械手技术成熟度不高及作业范围受限的现状,结合并考虑到其工作环境中狭小空间布置存放及大范围作业等要求,提出一种水下纯水液压机械手连杆驱动机构。【方法】所提机构采用水液压直线缸驱动六连杆机构,对该机构进行了运动学及力学分析;以水液压缸的输出载荷、速度波动以及行程为目标函数,建立了连杆机构的多目标优化模型;基于非支配排序遗传算法(Non-dominated Sorting Genetic Algorithm,NSGA-Ⅱ),对连杆机构尺寸、布置位置等参数进行优化求解,完成了驱动机构的多目标优化设计。【结果】结果表明,经过优化后,各项指标均得到一定改善,有效验证了优化方法的可行性。
[Objective]In response to the current situation of low maturity and limited operating range of underwater pure water hydraulic manipulator technology,and considering the requirements of small space layout and large-scale operation in its working environment,a linkage driving mechanism for underwater pure water hydraulic manipulators was proposed.[Methods]The mechanism adopted a hydraulic linear cylinder to drive a six bar linkage mechanism,and kinematic and mechanical analysis of the mechanism was carried out.A multi-objective optimization model for the linkage mechanism was established with the output load,speed fluctuation,and stroke of the hydraulic cylinder as the objective functions.Based on the nondominated sorting genetic algorithm(NSGA-Ⅱ),the dimensions,layout positions,and other parameters of the linkage mechanism were optimized and solved,completing the multi-objective optimization design of the driving mechanism.[Results]The results show that after optimization,all the indexes have been improved to a certain extent,effectively verifying the feasibility of the optimisation method.
作者
许锋炜
张浩
向杨君
张铮铮
吴世海
宫鹏
XU Fengwei;ZHANG Hao;XIANG Yangjun;ZHANG Zhengzheng;WU Shihai;GONG Peng(China Ship Scientific Research Center,Wuxi 214082,China;Taihu Laboratory of Deepsea Technological Science,Wuxi 214082,China)
出处
《机械传动》
北大核心
2025年第10期62-68,共7页
Journal of Mechanical Transmission
基金
中国科学院冷泉装置前期关键技术攻关项目(LQ-GJ-01)。
关键词
水液压
水下机械手
驱动连杆机构
多目标遗传算法
优化设计
Water hydraulic
Underwater manipulator
Driving linkage mechanism
Multi-objective genetic algorithm
Optimal design
