一种新型并联灌注机器人运动学分析和多目标优化

doi:10.13700/j.bh.1001-5965.2017.0157

北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (3): 568-575.doi: 10.13700/j.bh.1001-5965.2017.0157

一种新型并联灌注机器人运动学分析和多目标优化

杨会¹, 房海蓉^1,2, 李典¹, 方跃法^1,2

1. 北京交通大学机械与电子控制工程学院机器人研究中心, 北京 100044;
2. 北京交通大学载运工具先进制造与测控技术教育部重点实验室, 北京 100044

收稿日期:2017-03-17 出版日期:2018-03-20 发布日期:2018-03-30
通讯作者: 房海蓉 E-mail:hrfang@bjtu.edu.cn
作者简介:杨会,女,博士研究生。主要研究方向:并联机器人机构学;房海蓉,女,博士,教授,博士生导师。主要研究方向:并联机器人机构学、数字化制造技术与装备、机电装备系统设计;李典,男,博士研究生。主要研究方向:并联机器人机构学;方跃法,男,博士,教授,博士生导师。主要研究方向:机器人学、CAD/CAM、机械系统动力学、现代机械设计。
基金资助:
国家自然科学基金（51675037）

Kinematics analysis and multi-objective optimization of a novel parallel perfusion robot

YANG Hui¹, FANG Hairong^1,2, LI Dian¹, FANG Yuefa^1,2

1. Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China;
2. Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, Beijing Jiaotong University, Beijing 100044, China

Received:2017-03-17 Online:2018-03-20 Published:2018-03-30
Supported by:
National Natural Science Foundation of China (51675037)

摘要/Abstract

摘要： 针对大型航天器蜂窝结构灌注需求，提出一种新型串并混联灌注机器人机构，主要对并联机构进行分析研究。首先，对3PSS-PU并联机构进行了运动学分析，建立了运动学反解数学模型和雅可比矩阵；其次，确定了影响机构工作空间主要因素的约束条件，求解出了机构的工作空间；然后，建立了机构的刚度模型，求得机构在运动过程中的刚度变化分布；最后，利用遗传算法，以工作空间和全局刚度为目标对机构结构参数进行优化分析，确定了最终的机构尺寸参数，为蜂窝灌注机器人应用奠定基础。

关键词: 并联灌注机器人, 运动学分析, 工作空间, 刚度, 多目标优化

Abstract: In order to meet the demand of honeycomb structure perfusion of large spacecraft, a novel hybrid perfusion robot is proposed. This article mainly focuses on the analysis of the parallel mechanism. First, the kinematics analysis of 3PSS-PU parallel mechanism is conducted, and the inverse kinematic model and Jacobian matrix of 3PSS-PU mechanism are established. Then, the constraints of the main factors influencing workspace of the mechanism are given, and the reachable workspace is obtained. Next, stiffness model of the mechanism is established, and stiffness distribution of the mechanism in the process of movement is displayed. Finally, aimed at workspace volume and global stiffness, multi-objective optimization analysis of structure parameters is performed based on genetic algorithm, and final dimension parameters of the mechanism are obtained. This work would lay the foundation for the application of the honeycomb perfusion robot.

Key words: parallel perfusion robot, kinematics analysis, workspace, stiffness, multi-objective optimization

中图分类号:

TH112

杨会, 房海蓉, 李典, 方跃法. 一种新型并联灌注机器人运动学分析和多目标优化[J]. 北京航空航天大学学报, 2018, 44(3): 568-575.

YANG Hui, FANG Hairong, LI Dian, FANG Yuefa. Kinematics analysis and multi-objective optimization of a novel parallel perfusion robot[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2018, 44(3): 568-575.

参考文献

[1] ACKERMAN P K,BAKER A L,NEWQUIST C W.Thermal protection system:US 5322725[P].1994-06-21.
[2] WU D F,ZHOU A F,ZHENG L M,et al.Study on the thermal protection performance of superalloy honeycomb panels in high-speed thermal shock environments[J].Theoretical & Applied Mechanics Letters,2014,4(2):19-26.
[3] 程文礼,袁超,邱启艳,等.航空用蜂窝夹层结构及制造工艺[J].航空制造技术, 2015,476(7):94-98.CHENG W L,YUAN C,QIU Q Y,et al.Honeycomb sandwich structure and manufacturing process in aviation industry[J]. Aeronautical Manufacturing Technology,2015,476(7):94-98(in Chinese).
[4] 张纪奎,马志阳,李学梅,等.带防热层复合材料锥壳热固化变形的数值模拟[J].北京航空航天大学学报, 2013,39(8):1037-1041.ZHANG J K,MA Z Y,LI X M,et al.Numerical simulation of cure deformation of composite taper shell with thermal protection layer[J]. Journal of Beijing University of Aeronautics and Astronautics,2013,39(8):1037-1041(in Chinese).
[5] 郑力铭,吴大方,王岳武,等.金属蜂窝板高温环境下的隔热性能试验与计算[J].北京航空航天大学学报,2012,38(6):731-735.ZHENG L M,WU D F,WANG Y W,et al.Experiment and numerical simulation on heat-shielding properties of metallic honeycomb panel in high temperature environment[J].Journal of Beijing University of Aeronautics and Astronautics,2012,38(6):731-735(in Chinese).
[6] LEE C S G,ZIEGLER M.Geometric approach in solving inverse kinematics of PUMA robots[J]. IEEE Transactions on Aerospace & Electronic Systems,1984,20(6):695-706.
[7] OMODEI A, LEGNANI G, ADAMINI R.Three methodologies for the calibration of industrial manipulators:Experimental results on a SCARA robot[J].Journal of Robotic Systems,2000,17(6):291-307.
[8] NUBIOLA A,BONEV I A.Absolute calibration of an ABB IRB 1600 robot using a laser tracker[J].Robotics and Computer-Integrated Manufacturing,2013,29(1):236-245.
[9] FANG Y F,TSAI L W.Structure synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures[J].International Journal of Robotics Research,2002,21(9):799-810.
[10] 房海蓉,方跃法,郭胜.四自由度对称并联机器人结构综合方法[J].北京航空航天大学学报,2005,31(3):346-350.FANG H R,FANG Y F,GUO S.Structural synthesis method for 4-degrees-of-freedom symmetrical parallel manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics,2005,31(3):346-350(in Chinese).
[11] 张克涛,方跃法,房海蓉.基于变胞原理的一种探测车机构设计与分析[J].北京航空航天大学学报,2007,33(7):838-841.ZHANG K T,FANG Y F,FANG H R.Design and analysis of a rover mechanism based on the metamorphic principle[J].Journal of Beijing University of Aeronautics and Astronautics,2007,33(7):838-841(in Chinese).
[12] PASHKEVICH A,CHABLAT D,WENGER P.Stiffness analysis of over-constrained parallel manipulators[J].Mechanism & Machine Theory,2009,44(5):966-982.
[13] GAO Z,ZHANG D.Performance analysis, mapping, and multi-objective optimization of a hybrid robotic machine tool[J]. IEEE Transactions on Industrial Electronics, 2015, 62(1):423-433.
[14] GAO F,PENG B,ZHAO H,et al.A novel 5-DOF fully parallel kinematic machine tool[J].The International Journal of Advanced Manufacturing Technology,2006,31(1):201-207.
[15] 陈友东,季旭东,汤伟.管道喷涂机器人:结构与位姿调整[J].北京航空航天大学学报,2015,41(2):209-215.CHEN Y D,JI X D,TANG W.Pipeline spraying robot:Structure and pose adjustment[J].Journal of Beijing University of Aeronautics and Astronautics,2015,41(2):209-215(in Chinese).
[16] 于靖军,毕树生,宗光华,等.面向生物工程的微操作机器人机构型综合研究[J].北京航空航天大学学报,2001,27(3):356-360.YU J J,BI S S,ZONG G H,et al.Research on type synthesis of micromanipulation mechanisms for bioengineering[J].Journal of Beijing University of Aeronautics and Astronautics,2001,27(3):356-360(in Chinese).
[17] KIM G S,SHIN H J,YOON J.Development of 6-axis force/moment sensor for a humanoid robot's intelligent foot[J].Sensors & Actuators A Physical,2008,2(3):122-133.
[18] CHI Z,ZHANG D,XIA L,et al.Multi-objective optimization of stiffness and workspace for a parallel kinematic machine[J]. International Journal of Mechanics and Materials in Design,2013,9(3):281-293.
[19] KONAK A,COIT D W,SMITH A E.Multi-objective optimization using genetic algorithms:A tutorial[J].Reliability Engineering & System Safety,2006,91(9):992-1007.
[20] HUANG H Z,QU N J,ZUO N M J.A new method of system reliability multi-objective optimization using genetic algorithms[C]//Proceedings of Reliability and Maintainability Symposium.Piscataway,NJ:IEEE Press,2006:278-283.

一种新型并联灌注机器人运动学分析和多目标优化

Kinematics analysis and multi-objective optimization of a novel parallel perfusion robot

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	章健, 张大义, 王永锋, 马艳红, 洪杰. 共用支承-转子结构系统振动耦合特性分析[J]. 北京航空航天大学学报, 2019, 45(9): 1902-1910.
[2]	王岩, 林彬, 东野广恒, 董颖怀, 赵静楠, 张晓峰. 附件化超声振动工作台设计及有限元优化分析[J]. 北京航空航天大学学报, 2019, 45(8): 1589-1596.
[3]	洪杰, 沈玉秡, 王永锋, 马艳红. 动力涡轮转子结构系统力学特性稳健设计方法[J]. 北京航空航天大学学报, 2019, 45(3): 437-445.
[4]	房海蓉, 王立, 张海强, 杨会. 一种含闭环支链的新型并联机构设计与分析[J]. 北京航空航天大学学报, 2019, 45(3): 454-463.
[5]	郑莉芳, 万元宇, 关少亚, 孙凯, 孟偲, 贾佳. 一种电磁定位系统工作空间拓展方法[J]. 北京航空航天大学学报, 2019, 45(10): 1956-1964.
[6]	洪杰, 杨振川, 王永锋, 马艳红. 航空发动机承力结构隔振设计方法及试验[J]. 北京航空航天大学学报, 2019, 45(1): 10-17.
[7]	洪杰, 徐翕如, 苏志敏, 马艳红. 高速转子连接结构刚度损失及振动特性[J]. 北京航空航天大学学报, 2019, 45(1): 18-25.
[8]	吴文浩, 张学军, 顾博, 朱晓辉. 基于军民融合的全局飞行流量协同优化方法[J]. 北京航空航天大学学报, 2018, 44(9): 1926-1932.
[9]	肖志鹏, 钱文敏, 周磊. 考虑壁板刚度匹配的大型飞机复合材料机翼气动弹性优化设计[J]. 北京航空航天大学学报, 2018, 44(8): 1629-1635.
[10]	王远, 臧勇, 管奔, 秦勤. 基于单胞有限元的波纹板等效刚度特性[J]. 北京航空航天大学学报, 2018, 44(6): 1230-1238.
[11]	高冬, 宋智斌, 赵亚茹. 干扰观测器在一种非线性刚度驱动器中的应用[J]. 北京航空航天大学学报, 2018, 44(6): 1328-1336.
[12]	徐小明, 张武翔, 丁希仑. 基于模块化的缠绕机设计方法[J]. 北京航空航天大学学报, 2018, 44(4): 746-758.
[13]	杜海文, 崔明朗, 韩统, 魏政磊, 唐传林, 田野. 基于多目标优化与强化学习的空战机动决策[J]. 北京航空航天大学学报, 2018, 44(11): 2247-2256.
[14]	姜雨, 徐成, 蔡梦婷, 陈丽丽. 基于双层规划模型的滑行道与停机位再指派联合调度[J]. 北京航空航天大学学报, 2018, 44(11): 2437-2443.
[15]	刘学翱, 吴宏宇, 王春洁, 丁宗茂, 丁建中. 着陆器变阻尼缓冲器性能分析及参数优化[J]. 北京航空航天大学学报, 2018, 44(10): 2149-2155.