本文選題：并聯(lián)機(jī)構(gòu)　切入點(diǎn)：多目標(biāo)優(yōu)化設(shè)計(jì)　出處：《山東理工大學(xué)》2017年碩士論文

【摘要】：并聯(lián)機(jī)構(gòu)在設(shè)計(jì)、制造、使用過(guò)程中存在著不確定性因素的影響,在忽視不確定性因素影響的多目標(biāo)優(yōu)化過(guò)程中,不確定性因素會(huì)在多個(gè)目標(biāo)函數(shù)間傳播累積,最終使得并聯(lián)機(jī)構(gòu)的需求性能產(chǎn)生波動(dòng),可靠性降低。因此,為了滿足實(shí)際工程中對(duì)并聯(lián)機(jī)構(gòu)可靠性的要求,需將考慮不確定性的可靠性優(yōu)化設(shè)計(jì)引入到并聯(lián)機(jī)構(gòu)的多目標(biāo)優(yōu)化設(shè)計(jì)中。本文以并聯(lián)機(jī)構(gòu)在激光切割機(jī)床主體機(jī)構(gòu)方面的應(yīng)用為例,將考慮不確定性的可靠性優(yōu)化設(shè)計(jì)引入到激光切割機(jī)床主體機(jī)構(gòu)的多目標(biāo)優(yōu)化設(shè)計(jì)中,以此提高激光切割機(jī)床的精度和可靠性。主要研究?jī)?nèi)容如下:(1)為了將并聯(lián)機(jī)構(gòu)優(yōu)勢(shì)與激光切割機(jī)床向著高速、精密的發(fā)展趨勢(shì)相結(jié)合,本文以豎式3-PUU并聯(lián)機(jī)構(gòu)作為激光切割機(jī)床主體機(jī)構(gòu)。對(duì)3-PUU并聯(lián)機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)理論分析。包括互易螺旋理論為基礎(chǔ)的運(yùn)動(dòng)特征分析,通過(guò)幾何約束方程求得機(jī)構(gòu)位置方程,采用三維極坐標(biāo)搜索法得到該機(jī)構(gòu)的工作空間圖。以虛設(shè)機(jī)構(gòu)法求得并聯(lián)機(jī)構(gòu)的Jacobian矩陣和Hessian矩陣,基于影響系數(shù)法對(duì)3-PUU并聯(lián)機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)分析,通過(guò)牛頓-歐拉法建立3-PUU并聯(lián)機(jī)構(gòu)的逆動(dòng)力學(xué)模型。(2)為了保證并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)理論分析的正確性,利用Matlab數(shù)值計(jì)算和Adams虛擬建模進(jìn)行聯(lián)合仿真,兩種仿真形式所得曲線相吻合,保證了運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)理論分析的正確性和仿真結(jié)果的可靠性,同時(shí)驗(yàn)證了3-PUU并聯(lián)機(jī)構(gòu)用作激光切割機(jī)床主體機(jī)構(gòu)的適用性,為性能指標(biāo)的建立提供了正確的理論基礎(chǔ)。(3)為了提高并聯(lián)機(jī)構(gòu)的整體性能,對(duì)其開展多目標(biāo)優(yōu)化研究。根據(jù)3-PUU并聯(lián)機(jī)構(gòu)的服役環(huán)境和性能需求,以工作空間、速度全域性能、加速度全域性能、慣性力全域性能等方面性能指標(biāo)為目標(biāo)函數(shù),構(gòu)建多目標(biāo)優(yōu)化數(shù)學(xué)模型。采用基于Isight的第二代非劣排序遺傳算法(NSGA-II)對(duì)設(shè)計(jì)空間進(jìn)行Pareto搜索,平衡各性能的實(shí)際需求,在可行性設(shè)計(jì)點(diǎn)中選取最優(yōu)Pareto解,使得機(jī)構(gòu)整體性能最優(yōu)。(4)為了保證并聯(lián)機(jī)構(gòu)的可靠性要求,采用基于Isight的6 Sigma優(yōu)化的方式來(lái)管理3-PUU并聯(lián)機(jī)構(gòu)中隨機(jī)不確定性因素。首先運(yùn)用概率論的方法分析量化不確定性因素,并建立考慮不確定性的多目標(biāo)優(yōu)化模型。然后在多目標(biāo)優(yōu)化的基礎(chǔ)上,基于Isight對(duì)并聯(lián)機(jī)構(gòu)進(jìn)行6 Sigma優(yōu)化。最后通過(guò)可靠性分析對(duì)比6 Sigma優(yōu)化前后需求性能的可靠度,經(jīng)過(guò)對(duì)比可以得到6 Sigma優(yōu)化所得優(yōu)化結(jié)果更加可靠,更切合實(shí)際工程需求。本課題的研究不僅能夠促進(jìn)激光加工技術(shù)的發(fā)展,而且能夠彌補(bǔ)并聯(lián)機(jī)構(gòu)傳統(tǒng)優(yōu)化設(shè)計(jì)中忽視不確定性因素影響的不足,使得并聯(lián)機(jī)構(gòu)設(shè)計(jì)優(yōu)化更加接近工程實(shí)際,對(duì)提高我國(guó)并聯(lián)機(jī)構(gòu)的設(shè)計(jì)能力和設(shè)計(jì)質(zhì)量具有一定的指導(dǎo)意義。
[Abstract]:In the process of design, manufacture and use of parallel mechanism, there are uncertain factors. In the process of multi-objective optimization, uncertainty factors propagate and accumulate among multiple objective functions.Finally, the demand performance of the parallel mechanism fluctuates and the reliability decreases.Therefore, in order to meet the requirement of reliability of parallel mechanism in practical engineering, it is necessary to introduce the reliability optimization design considering uncertainty into the multi-objective optimization design of parallel mechanism.Taking the application of parallel mechanism in laser cutting machine tool as an example, the reliability optimization design considering uncertainty is introduced into the multi-objective optimization design of laser cutting machine tool body mechanism.The accuracy and reliability of laser cutting machine are improved.The main research contents are as follows: (1) in order to combine the advantage of parallel mechanism with the developing trend of laser cutting machine towards high speed and precision, the vertical 3-PUU parallel mechanism is used as the main mechanism of laser cutting machine in this paper.The kinematics and dynamics of 3-PUU parallel mechanism are analyzed.The kinematic characteristic analysis based on the reciprocal helix theory is included. The position equation of the mechanism is obtained by geometric constraint equation, and the workspace diagram of the mechanism is obtained by using the three-dimensional polar coordinate search method.The Jacobian matrix and Hessian matrix of parallel mechanism are obtained by virtual mechanism method, and the kinematics of 3-PUU parallel mechanism is analyzed based on influence coefficient method.The inverse dynamic model of 3-PUU parallel mechanism is established by Newton-Euler method. In order to ensure the correctness of kinematics and dynamics theory analysis of parallel mechanism, Matlab numerical calculation and Adams virtual modeling are used for joint simulation.The curves obtained from the two simulation forms are consistent, which ensures the correctness of kinematics and dynamics theory analysis and the reliability of simulation results. At the same time, the applicability of 3-PUU parallel mechanism as the main mechanism of laser cutting machine is verified.In order to improve the overall performance of parallel mechanism, multi-objective optimization research is carried out.According to the service environment and performance requirements of 3-PUU parallel mechanism, a multi-objective optimization mathematical model is constructed by taking the workspace, velocity global performance, acceleration global performance and inertia force global performance as objective functions.The second generation noninferior sorting genetic algorithm (NSGA-IIs) based on Isight is used to search the design space for Pareto, to balance the actual demand of each performance, and to select the optimal Pareto solution in the feasible design point.In order to ensure the reliability of the parallel mechanism, a 6 Sigma optimization method based on Isight is adopted to manage the random uncertainty factors in the 3-PUU parallel mechanism.Firstly, the method of probability theory is used to analyze the uncertainty factors, and a multi-objective optimization model considering uncertainty is established.Then on the basis of multi-objective optimization, the parallel mechanism is optimized by 6 Sigma based on Isight.Finally, through the reliability analysis and comparison of the reliability of the requirement performance before and after 6 Sigma optimization, the optimization results obtained from the 6 Sigma optimization are more reliable and more suitable for practical engineering requirements.The research of this subject can not only promote the development of laser processing technology, but also make up for the deficiency of ignoring the influence of uncertain factors in the traditional optimization design of parallel mechanism, which makes the design optimization of parallel mechanism more close to the engineering practice.It has certain guiding significance to improve the design ability and design quality of parallel mechanism in our country.
【學(xué)位授予單位】：山東理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG485

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 吳任和;張策;;基于隨機(jī)概率的并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)可靠性分析[J];組合機(jī)床與自動(dòng)化加工技術(shù);2016年03期

2 吳任和;賀愛(ài)東;;基于Kriging模型的并聯(lián)機(jī)器人機(jī)構(gòu)的多目標(biāo)優(yōu)化設(shè)計(jì)[J];機(jī)械設(shè)計(jì)與制造;2016年02期

3 王南;劉慶陽(yáng);周莎莎;池騰騰;;基于Isight平臺(tái)NSGA-Ⅱ方法的3-PRS并聯(lián)機(jī)構(gòu)多目標(biāo)優(yōu)化[J];機(jī)械設(shè)計(jì)與制造;2015年12期

4 徐明;李建波;彭名華;劉鋮;;基于不確定性的旋翼轉(zhuǎn)速優(yōu)化直升機(jī)參數(shù)設(shè)計(jì)[J];航空學(xué)報(bào);2016年07期

5 謝志江;梁歡;宋代平;;基于連續(xù)蟻群算法的3-RPS并聯(lián)機(jī)構(gòu)正解[J];中國(guó)機(jī)械工程;2015年06期

6 劉麗琴;張學(xué)良;謝黎明;溫淑花;杜娟;;6-RSS并聯(lián)機(jī)器人機(jī)構(gòu)多目標(biāo)優(yōu)化設(shè)計(jì)[J];太原科技大學(xué)學(xué)報(bào);2012年04期

7 張虎;阮鴻雁;劉會(huì)霞;王霄;杜道忠;;一種三平移并聯(lián)激光加工機(jī)床的運(yùn)動(dòng)學(xué)研究及仿真[J];機(jī)床與液壓;2012年15期

8 鄭德星;;基于Jacobi矩陣3-PUU并聯(lián)機(jī)構(gòu)的奇異性研究[J];機(jī)械制造與自動(dòng)化;2012年02期

9 胡金龍;周鵬飛;潘志華;;一種少自由度并聯(lián)五軸激光切割機(jī)的設(shè)計(jì)與仿真[J];機(jī)械工程與自動(dòng)化;2012年01期

10 彭忠琦;;并聯(lián)機(jī)構(gòu)的發(fā)展及應(yīng)用[J];光機(jī)電信息;2011年12期

相關(guān)博士學(xué)位論文 前3條

1 王超群;并聯(lián)激光切割機(jī)床若干關(guān)鍵問(wèn)題研究[D];南京航空航天大學(xué);2015年

2 歐陽(yáng)琦;飛行器不確定性多學(xué)科設(shè)計(jì)優(yōu)化關(guān)鍵技術(shù)研究與應(yīng)用[D];國(guó)防科學(xué)技術(shù)大學(xué);2013年

3 王宇;基于不確定性的優(yōu)化方法及其在飛機(jī)設(shè)計(jì)中的應(yīng)用[D];南京航空航天大學(xué);2010年

相關(guān)碩士學(xué)位論文 前6條

1 王海波;六西格瑪設(shè)計(jì)在產(chǎn)品設(shè)計(jì)中的應(yīng)用研究[D];北京理工大學(xué);2015年

2 盧芹芹;三維平移并聯(lián)機(jī)構(gòu)型綜合與性能分析[D];燕山大學(xué);2015年

3 郝鵬程;6PUS-UPU冗余驅(qū)動(dòng)并聯(lián)機(jī)器人力/位控制算法的研究[D];燕山大學(xué);2015年

4 焦利明;多學(xué)科設(shè)計(jì)優(yōu)化理論在并聯(lián)機(jī)構(gòu)中的應(yīng)用[D];鄭州大學(xué);2012年

5 李健;不確定理論在機(jī)械產(chǎn)品設(shè)計(jì)中的應(yīng)用研究[D];西華大學(xué);2011年

6 林燕虹;穩(wěn)健優(yōu)化設(shè)計(jì)方法在機(jī)械產(chǎn)品中的應(yīng)用研究[D];五邑大學(xué);2010年

，

本文編號(hào)：1715030