CAJ | 학술논문

针对高速高加速度的平面并联机构,采用面向控制系统的机构设计方法,对机械结构进行优化设计.分别在运动学、动力学层面上提出多个性能指标,以其作为目标函数和约束条件建立了标准的多目标优化模型.基于NSGA-Ⅱ算法求解多目标优化问题,进行尺度综合.最终结果表明,优化后的机构能较大程度上消除系统耦合,提升动态件能,为高速控制系统设计提供良好的机械硬件平台.
침대고속고가속도적평면병련궤구,채용면향공제계통적궤구설계방법,대궤계결구진행우화설계.분별재운동학、동역학층면상제출다개성능지표,이기작위목표함수화약속조건건립료표준적다목표우화모형.기우NSGA-Ⅱ산법구해다목표우화문제,진행척도종합.최종결과표명,우화후적궤구능교대정도상소제계통우합,제승동태건능,위고속공제계통설계제공량호적궤계경건평태.
For a high-speed and high-acceleration planar parallel mechanism, a design for control (DFC) approach is pro-posed for the optimization of the mechanism structure.Several evaluation indexes of kinematics and dynamics performance are established for the object functions and constraints, and then a standard multi-objective optimization problem can be formed.The dimension synthesis is carried out by solving the multi-objective optimization with NSGA-Ⅱ (non-dominated sorting genetic algofithm-Ⅱ) algorithm.The final result shows that the mechanism with the optimized parameters can elim-inate the systematic coupling and enhance the dynamic performance greatly, which provides a sofid mechanism hardware platform for designing the high-speed control system.