摘要
针对传统抗眩晕训练手段无法模拟复杂海况的问题,设计了一种2UPS-1PU并联机构,其可实现垂荡、横摇和纵摇3个方向复合运动。基于人工蜂群算法,以灵巧度为指标,对该机构的结构参数进行了优化。首先对该机构的结构进行描述,并采用封闭解法求取该机构的位置反解和速度雅可比矩阵;然后证明了该机构线速度是各向同性的,为衡量角速度的灵巧度,提出了一种离散型全姿态空间条件数的评价指标,并在此基础上建立优化数学模型;最后利用人工蜂群算法对该模型进行了优化计算。计算结果表明:相对于常规设计,优化后2UPS-1PU并联机构的灵巧度得到了显著提升,证明了人工蜂群算法的有效性。
Aiming at the problem that the traditional anti-stun training method cannot simulate the complex sea state,this paper designs a 2UPS-1PU parallel mechanism that can realize the three-direction compound motion of rocking,swaying and heaving.And it optimizes the structural parameters of the mechanism with the dexterity as an index.Firstly,it describes the structure of the mechanism,and obtains the inverse solution and the velocity Jacobian matrix of the mechanism by the closed solution method.After proving the linear velocity of the mechanism is isotropic,it proposes the evaluation of the angular velocity discrete global attitude spatial condition number to dexterity in measuring angular velocity.Based on the index,it establishes an optimization mathematical model.Finally,it uses the artificial bee colony algorithm to optimize the model.The calculation results show that compared with the conventional design,the dexterity of the optimized 2UPS-1PU parallel mechanism improves significantly,which proves the effectiveness of the artificial bee colony algorithm.
作者
曹建平
王海东
高富东
Cao Jianping;Wang Haidong;Gao Fudong(Qingdao Branch of Naval Aviation University,Shandong Qingdao,266041,China)
出处
《机械设计与制造工程》
2020年第10期27-33,共7页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金资助项目(51505491)。
关键词
并联机构
灵巧度
人工蜂群算法
优化设计
parallel mechanism
dexterity
artificial bee colony algorithm
optimum design
