摘要
【目的】针对6-PSS并联机构构型布置与尺度综合优化缺乏系统性研究的问题,通过多构型对比与算法优化,提升机构的工作空间与灵巧度。【方法】首先,设计了4种不同构型并建立运动学模型;其次,采用区间离散法求解了可达工作空间;再次,以工作空间为目标函数,分别利用粒子群优化算法和平衡优化器算法进行了尺度综合优化;最后,通过实物样机试验对模型有效性及误差灵敏度进行了验证。【结果】结果表明,平衡优化器算法在收敛速度与全局搜索能力上优于粒子群优化算法,得出最优结构参数组合,显著提升了6-PSS并联机构的综合运动性能,为该类高精度设备的设计提供了支撑。
[Objective]Aiming at the lack of systematic research on configuration arrangement and dimensional synthesis optimization of 6-PSS parallel mechanisms,this study focuses on improving the workspace and dexterity through multiconfiguration comparison and algorithm optimization.[Methods]Firstly,four different configurations were designed,and their kinematics models were established.Secondly,the reachable workspace was solved using the interval discretization method.Then,dimensional synthesis optimization was performed with the workspace as the objective function by using the performance of the particle swarm optimization(PSO)and the equilibrium optimizer(EO)algorithms respectively.Finally,error sensitivity analysis and physical prototype tests were conducted to verify the proposed model.[Results]The results indicate that the EO algorithm outperforms the PSO algorithm in terms of optimization efficiency.The optimal structural parameters determined in this study significantly enhance the comprehensive performance of the mechanism,providing a foundation for the design of 6-PSS parallel mechanisms.
作者
王启明
薛牟宇
高大威
方鸣
葛运
WANG Qiming;XUE Muyu;GAO Dawei;FANG Ming;GE Yun(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《机械强度》
北大核心
2026年第3期47-59,共13页
Journal of Mechanical Strength
基金
国家自然科学基金面上项目(52175239)。
