机械工程学报 >

2017 , Vol. 53 >Issue 17: 92 - 102

DOI: https://doi.org/10.3901/JME.2017.17.092

机构学及机器人

基于试验设计方法和响应面方法的九索并联机构优化设计

  • 郑昱 ,
  • 孟凡伟 ,
  • 杨占立 ,
  • 易旺民
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  • 1. 北京卫星环境工程研究所可靠性与环境工程技术重点实验室 北京 100094;
    2. 北京卫星环境工程研究所北京市航天产品智能装配技术与装备工程技术研究中心 北京 100094;
    3. 解放军信息工程大学地理空间信息学院 郑州 450000
郑昱,男,1993年出生。主要研究方向为索并联机构优化与控制。E-mail:18500971876@163.com

收稿日期: 2017-02-13

  修回日期: 2017-05-08

  网络出版日期: 2017-09-05

基金资助

国家自然科学基金资助项目（51405024）

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Optimization Design of a Parallel Mechanism Driven by Nine Cables Based on Experimental Design Methods and Response Surface Methods

  • ZHENG Yu ,
  • MENG Fanwei ,
  • YANG Zhanli ,
  • YI Wangmin
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  • 1. Science and Technology on Reliability and Environment Engineering Laboratory, Beijing Institute of Spacecraft Environment Engineering, Beijing 100094;
    2. Beijing Engineering Research Center of the Intelligent Assembly Technology and Equipment for Aerospace Product, Beijing Institute of Spacecraft Environment Engineering, Beijing 100094;
    3. The Institute of Geographic Space Information, The PLA Information Engineering University, Zhengzhou 450000

Received date: 2017-02-13

  Revised date: 2017-05-08

  Online published: 2017-09-05

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摘要

提出一种九索驱动的6自由度柔性并联机构。依据静力学方程推导出该九索柔性并联机构的结构矩阵，使用力封闭算法计算出九索并联机构在特定受力状态下索力的分布，通过判断不同位置各索拉力的大小，从而确定出柔索并联机构在特定设计参数和特定受力状态下的工作空间。并以工作空间和工作空间分布情况为优化指标对索并联机构进行优化设计，利用三种试验设计方法布置试验点的位置，利用响应面法构建二阶响应面模型，从而对九索在框架上的安装位置、九索在动平台上下表面的连接位置进行优化设计，获得能使工作空间最大且沿竖直方向分布最均匀的优化结果。最后利用ADAMS搭建九索并联机构的虚拟样机模型，进行仿真分析，验证优化结果的准确性和优化过程的合理性。

关键词： 索并联机构; 优化设计; 试验设计方法; 响应面模型

本文引用格式

郑昱 , 孟凡伟 , 杨占立 , 易旺民 . 基于试验设计方法和响应面方法的九索并联机构优化设计[J]. 机械工程学报, 2017 , 53(17) : 92 -102 . DOI: 10.3901/JME.2017.17.092

Abstract

A flexible parallel mechanism with 6-DOF driven by 9 cables is presented. The structure matrix of the cable driven parallel mechanism is deduced by a statics equation. Using the force-closure method, the force distribution is calculated. Based on the force of each cable in different positions, feasible workspace is achieved under the specific design parameters and the specific force conditions. The optimization design of the cable driven parallel mechanism is carried out based on the workspace and the workspace distribution. Some typical design parameters, including the positions where the cables are fixed on the base frame and the positions where the cables are connected on the moving platform, are investigated in detail based on 3 different experimental design methods, which is used to select valuable sample points, and response surface method, which aims at building second order polynomial regression mode to obtain desired optimization results. Moreover, the virtual prototype experiment based on the ADAMS is utilized to verify the accuracy of the optimized results and the resonability of the optimization progress.

Key words： cable driven parallel mechanism; optimization design; experimental design methods; response surface method

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