爬楼轮椅后腿机构多目标优化设计
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摘要
爬楼轮椅后腿机构是典型的平面二自由度五连杆机构,杆长尺寸对其性能产生很大的影响。为了得到最优的杆长参数,建立了五连杆机构的运动学模型和动力学模型,分别在运动学层面和动力学层面上提出了多个性能指标,以其作为目标函数和约束条件建立了机构多目标优化数学模型,利用NSGA-Ⅱ多目标遗传算法得到了Pareto最优解。最后分别以各个性能指标值最小和权衡各个性能指标值为依据列出了几组最优设计点,包括杆长参数和对应的各个性能指标值,人们可以根据设计要求和工程实际经验来权衡选取满足不同要求的优化结果。
The rear leg mechanism of climbing wheelchair is the typical planar 2 degrees five-bar mechanism,and the size of the bar will have a great influence on its capability.In order to get the optimal bar-length parameter,the kinematic model and dynamic model of the five-bar mechanism were built up. Many performance indexes on the aspect of kinematics and dynamics were put forward which were took as the objective functions and constraint conditions to build up the multi-objective optimization mathematical model. The optimal solution of Pareto is carried out by using NSGA-Ⅱ multi-objective genetic algorithm. Finally,according to the minimum of every performance index and comparing every performance index,several group of optimal design points including the size of the bar and performance index values were listed. People can compare and choose the optimized solutions that meet different requirements according to the design requirement and engineer practical experience.
The rear leg mechanism of climbing wheelchair is the typical planar 2 degrees five-bar mechanism,and the size of the bar will have a great influence on its capability.In order to get the optimal bar-length parameter,the kinematic model and dynamic model of the five-bar mechanism were built up. Many performance indexes on the aspect of kinematics and dynamics were put forward which were took as the objective functions and constraint conditions to build up the multi-objective optimization mathematical model. The optimal solution of Pareto is carried out by using NSGA-Ⅱ multi-objective genetic algorithm. Finally,according to the minimum of every performance index and comparing every performance index,several group of optimal design points including the size of the bar and performance index values were listed. People can compare and choose the optimized solutions that meet different requirements according to the design requirement and engineer practical experience.
引文
[1]章勇年,王美思,吴阳.五连杆足式机器人腿部机构多目标优化算法[J].农业机械学报,2016,47(10):398-404.(Zhang Yong-nian,Wang Mei-si,Wu Yang.Multi-objective optimization algorithm of robot leg based on planar five-bar mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(10):398-404.)
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[4]李辉.混合驱动可控压力机的基础理论研究[D].天津:天津大学,2003.(Li Hui.Funda mental study on the hybrid-driven programmable mechanical press[D].Tianjin:Tianjin University,2003.)
[5]张亮,张继业,李田.超高速列车流线型头型多目标优化设计[J].机械工程学报,2017,53(2):106-114.(Zhang Liang,Zhang Ji-ye,Li Tian.Multi-objective optimization design of the streamlined head sheap of super high-speed trains[J].Journal of Mechanical Engineering,2017,53(2):106-114.)
[6]崔利杰,龚小平.基于MATLAB运动仿真的平面多连杆机构优化设计[J].机械设计与制造,2007(2):40-42.(Cui Li-jie,Gong Xiao-ping.Planar multi-linkage optimization design based on MATLAB movement simulation[J].Machinery Design and Manufacture,2007(2):40-42.)
[7]孙文杰,李刚.基于综合操作性能指标的操作机多目标优化[J].机械工程学报,2014,50(17):52-60.(Sun Wen-jie,Li Gang.Multiobjective optimization for the forging manipulator based on the comprehensive manipulation performance indices[J].Journal of Mechanical Engineering,2014,50(17):52-60.)
[8]石志新,罗玉峰,陈红亮.机器人机构的全域性能指标研究[J].机器人,2005,27(5):420-422.(Shi Zhi-xin,Luo Yu-feng,Chen Hong-liang.On global performance indices of mrobotic mechanisms[J].Robot,2005,27(5):420-422.)
[9]冯立艳,刘腾,李学刚.基于遗传算法的混合驱动铰链五杆机构的优化综合[J].机械设计与制造,2011(10):173-175.(Feng Li-yan,Liu Teng,Li Xue-gang.Optimumsynthesis of hybrid-driven hinge five-bar mechanism based on genetic algorithm[J].Machinery Design and Manufacture,2011(10):173-175.)
[10]孙立宁,楚中毅,曲东升.2-DOF平面并联机器人结构参数优化的研究[J].哈尔滨工业大学学报,2004,36(3):277-280.(Sun Li-ning,Chu Zhong-yi,Qu Dong-sheng.Structure op-timization of a novel 2-DOF planar parallel robot[J].Journal of Harbin Institute of Technology,2004,36(3):277-280.)
[2]崔国华,周海栋,王南.基于Insight的3-UPS-S并联机器人机构多目标优化[J].农业机械学报,2013,44(9):262-266.(Cui Guo-hua,Zhou Hai-dong,Wang Nan.Multi-objective optimization of 3-UPS-S parallel based on Insight[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(9):262-266.)
[3]于红英,唐德威,王建宇.平面五杆机构运动学和动力学特性分析[J].哈尔滨工业大学学报,2007,39(6):940-943.(Yu Hong-yin,Tang De-wei,Wang Jian-yu.The analysis on kinematics and dynamics characteristic of planar five-bar linkages[J].Journal of Harbin Institute of Technology,2007,39(6):940-943.)
[4]李辉.混合驱动可控压力机的基础理论研究[D].天津:天津大学,2003.(Li Hui.Funda mental study on the hybrid-driven programmable mechanical press[D].Tianjin:Tianjin University,2003.)
[5]张亮,张继业,李田.超高速列车流线型头型多目标优化设计[J].机械工程学报,2017,53(2):106-114.(Zhang Liang,Zhang Ji-ye,Li Tian.Multi-objective optimization design of the streamlined head sheap of super high-speed trains[J].Journal of Mechanical Engineering,2017,53(2):106-114.)
[6]崔利杰,龚小平.基于MATLAB运动仿真的平面多连杆机构优化设计[J].机械设计与制造,2007(2):40-42.(Cui Li-jie,Gong Xiao-ping.Planar multi-linkage optimization design based on MATLAB movement simulation[J].Machinery Design and Manufacture,2007(2):40-42.)
[7]孙文杰,李刚.基于综合操作性能指标的操作机多目标优化[J].机械工程学报,2014,50(17):52-60.(Sun Wen-jie,Li Gang.Multiobjective optimization for the forging manipulator based on the comprehensive manipulation performance indices[J].Journal of Mechanical Engineering,2014,50(17):52-60.)
[8]石志新,罗玉峰,陈红亮.机器人机构的全域性能指标研究[J].机器人,2005,27(5):420-422.(Shi Zhi-xin,Luo Yu-feng,Chen Hong-liang.On global performance indices of mrobotic mechanisms[J].Robot,2005,27(5):420-422.)
[9]冯立艳,刘腾,李学刚.基于遗传算法的混合驱动铰链五杆机构的优化综合[J].机械设计与制造,2011(10):173-175.(Feng Li-yan,Liu Teng,Li Xue-gang.Optimumsynthesis of hybrid-driven hinge five-bar mechanism based on genetic algorithm[J].Machinery Design and Manufacture,2011(10):173-175.)
[10]孙立宁,楚中毅,曲东升.2-DOF平面并联机器人结构参数优化的研究[J].哈尔滨工业大学学报,2004,36(3):277-280.(Sun Li-ning,Chu Zhong-yi,Qu Dong-sheng.Structure op-timization of a novel 2-DOF planar parallel robot[J].Journal of Harbin Institute of Technology,2004,36(3):277-280.)