【摘要】：并聯(lián)機(jī)構(gòu)由固定平臺(tái)、運(yùn)動(dòng)平臺(tái)以及連接兩者之間兩個(gè)及兩個(gè)以上的運(yùn)動(dòng)鏈組成,驅(qū)動(dòng)方式為并聯(lián),并且是一種閉環(huán)機(jī)構(gòu),它的自由度有兩個(gè)或者兩個(gè)以上。它的結(jié)構(gòu)穩(wěn)定,承受載荷能力強(qiáng),剛度大,無累積放大效應(yīng),運(yùn)動(dòng)的精度高。 隨著對(duì)并聯(lián)機(jī)構(gòu)的研究的日趨深入,新型的并聯(lián)機(jī)器人不斷出現(xiàn),1986年發(fā)明了Delta型并聯(lián)機(jī)器人,并迅速在工業(yè)領(lǐng)域取得了成功。目前,國外在并聯(lián)機(jī)構(gòu)領(lǐng)域的產(chǎn)業(yè)化方面已經(jīng)取得了突破性進(jìn)展,并且創(chuàng)造出了巨大的經(jīng)濟(jì)效益。而在國內(nèi),由于起步晚,相關(guān)理論和關(guān)鍵技術(shù)的研究滯后,在生產(chǎn)實(shí)際中的并聯(lián)機(jī)構(gòu)的應(yīng)用情況并不理想。 本文以Delta型并聯(lián)機(jī)構(gòu)作為研究對(duì)象,圍繞其尺寸參數(shù)的優(yōu)化設(shè)計(jì)進(jìn)行了深入的研究,對(duì)它的工作空間指標(biāo)、運(yùn)動(dòng)學(xué)靈巧度指標(biāo)、剛度性能指標(biāo)、動(dòng)力學(xué)性能指標(biāo)進(jìn)行了綜合分析與優(yōu)化設(shè)計(jì),為解決這種多目標(biāo)優(yōu)化問題,提供了一種切實(shí)可行的方法。具體的研究內(nèi)容包括： (1)幾何學(xué),運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)的結(jié)構(gòu)建模。 (2)對(duì)Delta型并聯(lián)機(jī)構(gòu)的各項(xiàng)性能指標(biāo)進(jìn)行了綜合的分析。包括：工作空間指標(biāo),運(yùn)動(dòng)學(xué)靈巧度性能指標(biāo),剛度性能指標(biāo),動(dòng)力學(xué)性能指標(biāo)等。 (3)針對(duì)不同性能指標(biāo)下的最優(yōu)尺寸參數(shù),找到了一個(gè)切實(shí)可行的解決方法。同時(shí)由于尺寸參數(shù)的數(shù)目較多,因此在最優(yōu)化的過程中運(yùn)用了遺傳算法求解這一問題。 (4)由于Delta型并聯(lián)機(jī)器人有不同的性能指標(biāo),因此,如何綜合這些性能指標(biāo),選出一組能夠體現(xiàn)并聯(lián)機(jī)器人各項(xiàng)特性的尺寸參數(shù)是十分重要的。這就是并聯(lián)機(jī)構(gòu)多目標(biāo)的尺度綜合問題。為解決這一尺度綜合問題,運(yùn)用多目標(biāo)優(yōu)化的概念,通過使用遺傳算法,對(duì)并聯(lián)機(jī)器人的尺度綜合問題進(jìn)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.
【學(xué)位授予單位】：東北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH112

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