Delta型并联机构优化设计技术研究
发布时间：2018-11-24 14:35
【摘要】：并联机构由固定平台、运动平台以及连接两者之间两个及两个以上的运动链组成,驱动方式为并联,并且是一种闭环机构,它的自由度有两个或者两个以上。它的结构稳定,承受载荷能力强,刚度大,无累积放大效应,运动的精度高。 随着对并联机构的研究的日趋深入,新型的并联机器人不断出现,1986年发明了Delta型并联机器人,并迅速在工业领域取得了成功。目前,国外在并联机构领域的产业化方面已经取得了突破性进展,并且创造出了巨大的经济效益。而在国内,由于起步晚,相关理论和关键技术的研究滞后,在生产实际中的并联机构的应用情况并不理想。 本文以Delta型并联机构作为研究对象,围绕其尺寸参数的优化设计进行了深入的研究,对它的工作空间指标、运动学灵巧度指标、刚度性能指标、动力学性能指标进行了综合分析与优化设计,为解决这种多目标优化问题,提供了一种切实可行的方法。具体的研究内容包括： (1)几何学,运动学和动力学的结构建模。 (2)对Delta型并联机构的各项性能指标进行了综合的分析。包括：工作空间指标,运动学灵巧度性能指标,刚度性能指标,动力学性能指标等。 (3)针对不同性能指标下的最优尺寸参数,找到了一个切实可行的解决方法。同时由于尺寸参数的数目较多,因此在最优化的过程中运用了遗传算法求解这一问题。 (4)由于Delta型并联机器人有不同的性能指标,因此,如何综合这些性能指标,选出一组能够体现并联机器人各项特性的尺寸参数是十分重要的。这就是并联机构多目标的尺度综合问题。为解决这一尺度综合问题,运用多目标优化的概念,通过使用遗传算法,对并联机器人的尺度综合问题进行了研究。
[Abstract]:The parallel mechanism is composed of a fixed platform, a motion platform and two or more kinematic chains connected between them. The driving mode is parallel, and it is a closed loop mechanism with two or more degrees of freedom. It has stable structure, strong load-bearing ability, high stiffness, no cumulative amplification effect and high motion accuracy. With the development of the research on parallel mechanism, a new type of parallel robot is emerging. The Delta parallel robot was invented in 1986, and it has been successfully applied in the industrial field. At present, a breakthrough has been made in the industrialization of parallel mechanisms abroad, and great economic benefits have been created. At home, due to the late start, the research of related theory and key technology lags behind, the application of parallel mechanism in production practice is not ideal. In this paper, the Delta parallel mechanism is taken as the research object, and the optimization design of its dimension parameters is deeply studied, and its workspace index, kinematics dexterity index, stiffness performance index, etc. The dynamic performance index is analyzed and optimized, which provides a feasible method for solving this multi-objective optimization problem. The main contents are as follows: (1) structural modeling of geometry, kinematics and dynamics. (2) the performance index of Delta parallel mechanism is analyzed synthetically. Including: workspace index, kinematics dexterity performance index, stiffness performance index, dynamic performance index and so on. (3) according to the optimal dimension parameters of different performance indexes, a feasible solution is found. At the same time, genetic algorithm is used to solve this problem in the process of optimization because of the large number of dimension parameters. (4) because Delta parallel robot has different performance indexes, it is very important how to synthesize these performance indexes and choose a set of dimension parameters which can reflect the characteristics of parallel robot. This is the scale synthesis problem of parallel mechanism. In order to solve the problem of scale synthesis, using the concept of multi-objective optimization and genetic algorithm, the scale synthesis problem of parallel robot is studied.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112
本文编号：2354095
[Abstract]:The parallel mechanism is composed of a fixed platform, a motion platform and two or more kinematic chains connected between them. The driving mode is parallel, and it is a closed loop mechanism with two or more degrees of freedom. It has stable structure, strong load-bearing ability, high stiffness, no cumulative amplification effect and high motion accuracy. With the development of the research on parallel mechanism, a new type of parallel robot is emerging. The Delta parallel robot was invented in 1986, and it has been successfully applied in the industrial field. At present, a breakthrough has been made in the industrialization of parallel mechanisms abroad, and great economic benefits have been created. At home, due to the late start, the research of related theory and key technology lags behind, the application of parallel mechanism in production practice is not ideal. In this paper, the Delta parallel mechanism is taken as the research object, and the optimization design of its dimension parameters is deeply studied, and its workspace index, kinematics dexterity index, stiffness performance index, etc. The dynamic performance index is analyzed and optimized, which provides a feasible method for solving this multi-objective optimization problem. The main contents are as follows: (1) structural modeling of geometry, kinematics and dynamics. (2) the performance index of Delta parallel mechanism is analyzed synthetically. Including: workspace index, kinematics dexterity performance index, stiffness performance index, dynamic performance index and so on. (3) according to the optimal dimension parameters of different performance indexes, a feasible solution is found. At the same time, genetic algorithm is used to solve this problem in the process of optimization because of the large number of dimension parameters. (4) because Delta parallel robot has different performance indexes, it is very important how to synthesize these performance indexes and choose a set of dimension parameters which can reflect the characteristics of parallel robot. This is the scale synthesis problem of parallel mechanism. In order to solve the problem of scale synthesis, using the concept of multi-objective optimization and genetic algorithm, the scale synthesis problem of parallel robot is studied.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112
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