CN107577828B - Design method and device for maximizing rotation space of parallel mechanism - Google Patents
Design method and device for maximizing rotation space of parallel mechanism Download PDFInfo
- Publication number
- CN107577828B CN107577828B CN201610519417.8A CN201610519417A CN107577828B CN 107577828 B CN107577828 B CN 107577828B CN 201610519417 A CN201610519417 A CN 201610519417A CN 107577828 B CN107577828 B CN 107577828B
- Authority
- CN
- China
- Prior art keywords
- parallel mechanism
- function
- determining
- space
- maximum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The embodiment of the invention provides a design method and a device for maximizing a rotation space of a parallel mechanism. According to the design method for maximizing the rotation space of the parallel mechanism, the actual engineering components are considered when the optimal solution set is determined through the multi-objective optimization algorithm, so that the optimal solution set obtained through the multi-objective optimization algorithm can better guide the actual construction of the parallel mechanism, the expected effect can be achieved, and the rotation space of the constructed parallel mechanism is effectively improved.
Description
Technical Field
The embodiment of the invention relates to a working space optimization technology of a parallel mechanism, in particular to a design method and a device for maximizing a rotating space of the parallel mechanism.
Background
A parallel machine tool with a parallel mechanism as a precise motion platform is a novel machine tool developed in the 90 s of the 20 th century, and is a product combining mechanistic theory, robot technology and numerical control technology. Compared with the traditional series machine tool, the parallel machine tool has the advantages of high rigidity, low inertia and high response speed, and is very suitable for the requirement of high-speed cutting processing.
The parallel mechanism is suitable for the processing field with high precision and complex curved surfaces of workpieces, and particularly has great influence in the industries of aerospace, military scientific research, precise instruments, high-precision medical equipment and the like. However, in order to solve the problem that the spatial deflection capability of the parallel mechanism is limited, an optimization algorithm is often designed from a theoretical structural parameter model, an optimal structural parameter value is obtained through the optimization algorithm, and engineering structural members with similar values are selected according to the optimal structural parameter value, wherein in the process of selecting the engineering structural members through the optimization algorithm, the discretization characteristic of the structural parameters of the engineering structural members is not considered, so that the rotating space of the parallel mechanism for guiding actual engineering design and manufacturing through the method cannot achieve the expected effect.
Disclosure of Invention
The embodiment of the invention provides a design method and a device for maximizing the rotation space of a parallel mechanism, which can better guide the actual construction of the parallel mechanism and can achieve the expected effect, thereby effectively improving the rotation space of the constructed parallel mechanism.
In a first aspect, an embodiment of the present invention provides a design method for maximizing a rotation space of a parallel mechanism, including:
acquiring the space size of the working environment of the parallel mechanism and a model database of engineering components of the parallel mechanism;
determining constraint conditions for optimizing the rotating space of the parallel mechanism according to the space size of the working environment and the model database of the engineering component;
determining an optimization objective function according to the maximum deflection angle function and the consistent deflection factor function of the parallel mechanism and the maximum rotation angle function of each strut, wherein the optimization objective function is used for representing the rotation space volume of the parallel mechanism;
taking the constraint conditions and the optimization objective function as the input of a multi-objective optimization algorithm, and determining an optimal solution set through the multi-objective optimization algorithm;
selecting engineering components according to the optimal solution set to construct a parallel mechanism so that the parallel mechanism can obtain the maximum rotation space in a working environment;
wherein the model database of the engineering component comprises models of the engineering component and sizes corresponding to the models.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the determining, according to the space size of the working environment and the model database of the engineering component, a constraint condition for optimizing a rotation space of a parallel mechanism includes:
determining the value range of the continuous structural parameters of the parallel mechanism according to the space size of the working environment;
determining the value range of discrete structure parameters of the parallel mechanism according to the model database of the engineering component;
and taking the value range of the continuous structural parameter and the value range of the discrete structural parameter as constraint conditions for optimizing the rotation space of the parallel mechanism.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the continuous structural parameter includes any one or a combination of a size of a fixed platform of the parallel mechanism and a degree of freedom of translation in a vertical direction of the parallel mechanism.
With reference to the first possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the discrete type structural parameter includes any one or a combination of a size of a linear guide rail of the parallel mechanism and a size of the spherical bearing.
With reference to any one of the first to third possible implementation manners of the first aspect, in a fourth possible implementation manner of the first aspect, the determining an optimization objective function according to the maximum deflection angle function of the parallel mechanism, the uniform deflection factor function, and the maximum rotation angle function of each strut includes:
taking the continuous structure parameters and the discrete structure parameters as the input of a rotation space algorithm for calculating the parallel mechanism, and determining the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each support rod of the parallel mechanism through the rotation space algorithm;
determining a primary evaluation element and a secondary evaluation element of a rotation space of the parallel mechanism by using an analytic hierarchy process according to the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each strut;
taking the primary evaluation element and the secondary evaluation element as the optimization objective function;
the primary evaluation element is a maximum deflection angle and a consistent deflection factor function, and the secondary evaluation element is a maximum rotation angle function of each strut.
With reference to the first aspect and any one of the first to the third possible implementation manners of the first aspect, in a fifth possible implementation manner of the first aspect, the multi-objective optimization algorithm includes a non-dominated ranking genetic algorithm NSGA-ii.
In a second aspect, an embodiment of the present invention provides a parallel mechanism rotation space optimization design apparatus, including:
the acquisition module is used for acquiring the space size of the working environment of the parallel mechanism and a model database of engineering components of the parallel mechanism;
the first determining module is used for determining constraint conditions for optimizing the rotating space of the parallel mechanism according to the space size of the working environment and the model database of the engineering component;
the second determination module is used for determining an optimization objective function according to the maximum deflection angle function, the consistency deflection factor function and the maximum rotation angle function of each strut of the parallel mechanism, and the optimization objective function is used for representing the rotation space volume of the parallel mechanism;
the processing module is used for taking the constraint conditions and the optimization objective function as the input of a multi-objective optimization algorithm and determining an optimal solution set through the multi-objective optimization algorithm; selecting engineering components according to the optimal solution set to construct a parallel mechanism so that the parallel mechanism can obtain the maximum rotation space in a working environment;
wherein the model database of the engineering component comprises models of the engineering component and sizes corresponding to the models.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the first determining module is specifically configured to:
determining the value range of the continuous structural parameters of the parallel mechanism according to the space size of the working environment;
determining the value range of discrete structure parameters of the parallel mechanism according to the model database of the engineering component;
and taking the value range of the continuous structural parameter and the value range of the discrete structural parameter as constraint conditions for optimizing the rotation space of the parallel mechanism.
With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the continuous structural parameter includes any one or a combination of a size of a fixed platform of the parallel mechanism and a degree of freedom of translation in a vertical direction of the parallel mechanism.
With reference to the first possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, the discrete type structural parameter includes any one or a combination of a size of a linear guide rail of the parallel mechanism and a size of a spherical bearing.
With reference to any one of the first to third possible implementation manners of the second aspect, in a fourth possible implementation manner of the second aspect, the second determining module is specifically configured to:
taking the continuous structure parameters and the discrete structure parameters as the input of a rotation space algorithm for calculating the parallel mechanism, and determining the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each support rod of the parallel mechanism through the rotation space algorithm;
determining a primary evaluation element and a secondary evaluation element of a rotation space of the parallel mechanism by using an analytic hierarchy process according to the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each strut;
taking the primary evaluation element and the secondary evaluation element as the optimization objective function;
the primary evaluation element is a maximum deflection angle and a consistent deflection factor function, and the secondary evaluation element is a maximum rotation angle function of each strut.
With reference to the second aspect and any one of the first to the third possible implementation manners of the second aspect, in a fifth possible implementation manner of the second aspect, the multi-objective optimization algorithm includes a non-dominated ranking genetic algorithm NSGA-ii.
According to the design method and device for maximizing the rotating space of the parallel mechanism, the space size of the working environment of the parallel mechanism and the model database of the engineering components of the parallel mechanism are obtained, the constraint condition for optimizing the rotating space of the parallel mechanism is determined according to the space size of the working environment and the model database of the engineering components, the function representing the rotating space volume of the parallel mechanism is used as an optimization target function, the optimal solution set is determined through a multi-objective optimization algorithm, the engineering components are selected according to the optimal solution set to construct the parallel mechanism, namely the actual engineering components are considered when the optimal solution set is determined through the multi-objective optimization algorithm, so that the optimal solution set obtained through the multi-objective optimization algorithm can better guide the actual construction of the parallel mechanism, the expected effect can be achieved, and the rotating space of the constructed parallel mechanism is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flowchart of a first embodiment of a design method for maximizing a rotation space of a parallel mechanism according to the present invention;
FIG. 2 is a flow chart of a method for determining constraints in a design for maximizing a rotation space of a parallel mechanism according to the present invention;
FIG. 3 is a flow chart of a method for determining an optimized objective function in a design for maximizing a rotation space of a parallel mechanism according to the present invention;
fig. 4 is a schematic structural diagram of a design device for maximizing the rotation space of the parallel mechanism according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a first embodiment of a design method for maximizing a rotation space of a parallel mechanism according to the present invention, and as shown in fig. 1, the method of this embodiment may include:
step 101, obtaining the space size of the working environment of the parallel mechanism and a model database of the engineering components of the parallel mechanism.
The space size of the working environment of the parallel mechanism specifically refers to the space size of the working environment of the parallel mechanism, such as the length, width, height, and the like of the space. The model database of the engineering component comprises the model of the engineering component and the size corresponding to the model, the engineering component is a standardized engineering component, namely a standard component, in particular to a common part produced by a professional factory, and the standard component comprises a standardized fastener, a connecting piece, a transmission piece, a sealing piece, a hydraulic element, a pneumatic element, a bearing, a spring and other mechanical parts, wherein each engineering component has the model for identifying the engineering component.
And 102, determining a constraint condition for optimizing the rotation space of the parallel mechanism according to the space size of the working environment and the model database of the engineering component.
And 103, determining an optimization objective function according to the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each strut of the parallel mechanism, wherein the optimization objective function is used for representing the rotation space volume of the parallel mechanism.
And 104, taking the constraint conditions and the optimization objective function as the input of a multi-objective optimization algorithm, and determining an optimal solution set through the multi-objective optimization algorithm, wherein the optimal solution set is used for selecting engineering components according to the optimal solution set to construct a parallel mechanism.
Specifically, an optimal solution set is determined by a multi-objective optimization algorithm within the constraint condition range, and the optimal solution set comprises a solution for maximizing an optimization objective function, namely a solution for maximizing a rotation space of the parallel mechanism.
The multi-objective optimization algorithm comprises a non-dominated sorting genetic algorithm NSGA-II, and other multi-objective optimization algorithms can be selected. NSGA-II has the advantages of low computational complexity, guarantee that the elite population is not discarded and the like.
In the embodiment, by obtaining the space size of the working environment of the parallel mechanism and the model database of the engineering components of the parallel mechanism, the constraint condition for optimizing the rotation space of the parallel mechanism is determined according to the space size of the working environment and the model database of the engineering components, the function representing the rotation space volume of the parallel mechanism is used as the optimization objective function, the optimal solution set is determined through the multi-objective optimization algorithm, the engineering components are selected according to the optimal solution set to construct the parallel mechanism, namely, the actual engineering components are considered when the optimal solution set is determined through the multi-objective optimization algorithm, so that the optimal solution set obtained through the multi-objective optimization algorithm can better guide the actual construction of the parallel mechanism, the expected effect can be achieved, and the rotation space of the constructed parallel mechanism is effectively improved.
The following describes in detail the determination of the constraint condition and the determination of the optimization objective function in the technical solution of the method embodiment shown in fig. 1, respectively, by using two specific embodiments.
Fig. 2 is a flowchart of a method for determining constraint conditions in a design of maximizing a rotation space of a parallel mechanism according to the present invention, and as shown in fig. 2, the method of this embodiment may include:
step 201, determining the value range of the continuous structural parameters of the parallel mechanism according to the space size of the working environment.
Wherein, the continuous structure parameters comprise any one or combination of the size of the fixed platform of the parallel mechanism and the translation freedom degree of the parallel mechanism in the vertical direction (the direction vertical to the fixed platform). Specifically, in the practical application process, the lower plane of the parallel mechanism is used as a fixed platform to be connected with other components, so that the size of the fixed platform is a continuous parameter within a certain range, and the value range of the continuous structural parameter of the parallel mechanism is determined according to the working environment of the parallel mechanism.
Step 202, determining the value range of the discrete structure parameters of the parallel mechanism according to the model database of the engineering component.
The model database of the engineering component comprises the model of a standard component and the corresponding size of the model, the standard component can comprise a standardized linear guide rail, a rolling bearing and the like, the value range of discrete structural parameters can be determined according to the model database of the engineering component, and the discrete structural parameters comprise any one or combination of the size of the linear guide rail of the parallel mechanism and the size of the spherical bearing. Of course, embodiments of the present invention are not limited in this regard and may include, for example, a linear axis dimension, a drawer-type rail dimension, etc., i.e., a dimension that may include any engineering components required to construct a parallel mechanism. The range of the discrete structural parameters is the size of the selectable standard component.
And 203, taking the value range of the continuous structural parameter and the value range of the discrete structural parameter as constraint conditions for optimizing the rotation space of the parallel mechanism.
In the embodiment, the value range of the continuous structural parameter of the parallel mechanism is determined according to the space size of the working environment, the value range of the discrete structural parameter of the parallel mechanism is determined according to the model database of the engineering component, and the value range of the continuous structural parameter and the value range of the discrete structural parameter are used as the constraint condition for optimizing the rotating space of the parallel mechanism, so that the actual structural parameter of the engineering component is used as the constraint condition in the process of optimizing the rotating space of the parallel mechanism, the result obtained by optimizing the rotating space of the parallel mechanism can effectively guide the actual engineering design and manufacture, and the expected effect can be achieved.
Fig. 3 is a flowchart of a method for determining an optimization objective function in a design of maximizing a rotation space of a parallel mechanism according to the present invention, and as shown in fig. 3, the method of this embodiment may include:
step 301, taking the continuous structure parameters and the discrete structure parameters as input of a rotation space algorithm for calculating the parallel mechanism, and determining a maximum deflection angle function, a consistent deflection factor function and a maximum rotation angle function of each supporting rod of the parallel mechanism through the rotation space algorithm.
And 302, determining a primary evaluation element and a secondary evaluation element of a rotation space of the parallel mechanism by using an analytic hierarchy process according to the maximum deflection angle function, the consistency deflection factor function and the maximum rotation angle function of each strut.
And step 303, taking the primary evaluation element and the secondary evaluation element as the optimization objective function.
The primary evaluation element is a maximum deflection angle and a consistent deflection factor function, and the secondary evaluation element is a maximum rotation angle function of each strut.
In this embodiment, an analytic hierarchy process is used in the process of determining the optimization objective function, and the rotation space of the parallel mechanism constructed by the optimization guidance of the optimization objective function can be further used.
Fig. 4 is a schematic structural diagram of a design apparatus for maximizing a rotation space of a parallel mechanism according to the present invention, and as shown in fig. 4, the apparatus of this embodiment may include: the system comprises an acquisition module 11, a first determination module 12, a second determination module 13 and a processing module 14, wherein the acquisition module 11 is used for acquiring the space size of the working environment of the parallel mechanism and the model database of the engineering components of the parallel mechanism, the first determination module 12 is used for determining the constraint condition for optimizing the rotation space of the parallel mechanism according to the space size of the working environment and the model database of the engineering components, the second determination module 13 is used for determining the optimization objective function according to the maximum deflection angle function, the consistency deflection factor function and the maximum rotation angle function of each supporting rod of the parallel mechanism, the optimization objective function is used for representing the rotation space volume of the parallel mechanism, the processing module 14 is used for determining the optimal solution set through the multi-objective optimization algorithm by taking the constraint condition and the optimization objective function as the input of the multi-objective optimization algorithm, the optimal solution set is used for selecting engineering components according to the optimal solution set to construct a parallel mechanism, wherein the model database of the engineering components comprises models of the engineering components and sizes corresponding to the models.
Optionally, the multi-objective optimization algorithm comprises a non-dominated sorting genetic algorithm NSGA-ii.
The apparatus of this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, which are not described herein again.
Further, the first determining module 12 in the embodiment shown in fig. 4 may be specifically configured to determine a value range of a continuous structural parameter of the parallel mechanism according to the spatial size of the working environment; determining the value range of discrete structure parameters of the parallel mechanism according to the model database of the engineering component; and taking the value range of the continuous structural parameter and the value range of the discrete structural parameter as constraint conditions for optimizing the rotation space of the parallel mechanism. The continuous structure parameters comprise any one or combination of the size of a fixed platform of the parallel mechanism and the translation freedom degree of the parallel mechanism in the vertical direction. The discrete structural parameters comprise any one or combination of the size of a linear guide rail and the size of a spherical bearing of the parallel mechanism. The technical solution that can be used to implement the method embodiment shown in fig. 2 is similar in implementation principle and technical effect, and is not described here again.
The second determining module 13 may specifically be configured to: taking the continuous structure parameters and the discrete structure parameters as the input of a rotation space algorithm for calculating the parallel mechanism, and determining the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each support rod of the parallel mechanism through the rotation space algorithm; determining a primary evaluation element and a secondary evaluation element of a rotation space of the parallel mechanism by using an analytic hierarchy process according to the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each strut; taking the primary evaluation element and the secondary evaluation element as the optimization objective function; the primary evaluation element is a maximum deflection angle and a consistent deflection factor function, and the secondary evaluation element is a maximum rotation angle function of each strut. The technical solution that can be used to implement the method embodiment shown in fig. 3 is similar in implementation principle and technical effect, and is not described here again.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A design method for maximizing a rotation space of a parallel mechanism is characterized by comprising the following steps:
acquiring the space size of the working environment of the parallel mechanism and a model database of engineering components of the parallel mechanism;
determining constraint conditions for optimizing the rotating space of the parallel mechanism according to the space size of the working environment and the model database of the engineering component;
determining an optimization objective function according to the maximum deflection angle function and the consistent deflection factor function of the parallel mechanism and the maximum rotation angle function of each strut, wherein the optimization objective function is used for representing the rotation space volume of the parallel mechanism;
taking the constraint conditions and the optimization objective function as the input of a multi-objective optimization algorithm, and determining an optimal solution set through the multi-objective optimization algorithm, wherein the optimal solution set is used for selecting engineering components according to the optimal solution set to construct a parallel mechanism so as to enable the parallel mechanism to obtain the maximum rotation space in a working environment;
the model database of the engineering components comprises models of the engineering components and sizes corresponding to the models;
wherein the content of the first and second substances,
the method for determining the optimization objective function according to the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each strut of the parallel mechanism comprises the following steps:
taking the continuous structure parameters and the discrete structure parameters as the input of a rotation space algorithm for calculating the parallel mechanism, and determining the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each support rod of the parallel mechanism through the rotation space algorithm; determining a primary evaluation element and a secondary evaluation element of a rotation space of the parallel mechanism by using an analytic hierarchy process according to the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each strut; taking the primary evaluation element and the secondary evaluation element as the optimization objective function; the primary evaluation element is a maximum deflection angle and a consistent deflection factor function, and the secondary evaluation element is a maximum rotation angle function of each strut.
2. The method of claim 1, wherein determining constraints for optimizing the rotation space of the parallel mechanism according to the space size of the working environment and the model database of the engineering component comprises:
determining the value range of the continuous structural parameters of the parallel mechanism according to the space size of the working environment;
determining the value range of discrete structure parameters of the parallel mechanism according to the model database of the engineering component;
and taking the value range of the continuous structural parameter and the value range of the discrete structural parameter as constraint conditions for optimizing the rotation space of the parallel mechanism.
3. The method of claim 2, wherein the continuous structural parameters include any one or a combination of dimensions of a fixed platform of the parallel mechanism and a degree of freedom of translation in a vertical direction of the parallel mechanism.
4. The method of claim 2, wherein the discrete type structural parameters comprise any one or a combination of a size of a linear guide rail and a size of a spherical bearing of the parallel mechanism.
5. The method according to any one of claims 1 to 4, wherein the multi-objective optimization algorithm comprises the non-dominated ranking genetic algorithm NSGA-II.
6. A design device for maximizing the rotating space of a parallel mechanism is characterized by comprising:
the acquisition module is used for acquiring the space size of the working environment of the parallel mechanism and a model database of engineering components of the parallel mechanism;
the first determining module is used for determining constraint conditions for optimizing the rotating space of the parallel mechanism according to the space size of the working environment and the model database of the engineering component;
the second determination module is used for determining an optimization objective function according to the maximum deflection angle function, the consistency deflection factor function and the maximum rotation angle function of each strut of the parallel mechanism, and the optimization objective function is used for representing the rotation space volume of the parallel mechanism;
the processing module is used for taking the constraint conditions and the optimization objective function as the input of a multi-objective optimization algorithm, determining an optimal solution set through the multi-objective optimization algorithm, wherein the optimal solution set is used for selecting engineering components according to the optimal solution set to construct a parallel mechanism, so that the parallel mechanism obtains the maximum rotation space in a working environment;
the model database of the engineering components comprises models of the engineering components and sizes corresponding to the models;
the second determining module further includes:
taking the continuous structure parameters and the discrete structure parameters as the input of a rotation space algorithm for calculating the parallel mechanism, and determining the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each support rod of the parallel mechanism through the rotation space algorithm; determining a primary evaluation element and a secondary evaluation element of a rotation space of the parallel mechanism by using an analytic hierarchy process according to the maximum deflection angle function, the consistent deflection factor function and the maximum rotation angle function of each strut; taking the primary evaluation element and the secondary evaluation element as the optimization objective function; the primary evaluation element is a maximum deflection angle and a consistent deflection factor function, and the secondary evaluation element is a maximum rotation angle function of each strut.
7. The apparatus of claim 6, wherein the first determining module is specifically configured to:
determining the value range of the continuous structural parameters of the parallel mechanism according to the space size of the working environment;
determining the value range of discrete structure parameters of the parallel mechanism according to the model database of the engineering component;
and taking the value range of the continuous structural parameter and the value range of the discrete structural parameter as constraint conditions for optimizing the rotation space of the parallel mechanism.
8. The apparatus of claim 7, wherein the continuous structural parameters include any one or a combination of a dimension of a fixed platform of the parallel mechanism and a degree of freedom of translation in a vertical direction of the parallel mechanism.
9. The apparatus of claim 7, wherein the discrete type structural parameters comprise any one or a combination of a size of a linear guide rail and a size of a spherical bearing of the parallel mechanism.
10. The apparatus of any one of claims 6 to 9, wherein the multi-objective optimization algorithm comprises the non-dominated ranking genetic algorithm NSGA-ii.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610519417.8A CN107577828B (en) | 2016-07-04 | 2016-07-04 | Design method and device for maximizing rotation space of parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610519417.8A CN107577828B (en) | 2016-07-04 | 2016-07-04 | Design method and device for maximizing rotation space of parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107577828A CN107577828A (en) | 2018-01-12 |
| CN107577828B true CN107577828B (en) | 2020-04-28 |
Family
ID=61049174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610519417.8A Active CN107577828B (en) | 2016-07-04 | 2016-07-04 | Design method and device for maximizing rotation space of parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107577828B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1807030A (en) * | 2006-02-17 | 2006-07-26 | 江苏大学 | Intellectualized model comprehension method of parallel robot mechanism |
| CN101829989A (en) * | 2010-04-29 | 2010-09-15 | 北京理工大学 | Low degree-of-freedom parallel robot multi-index optimization design method based on interval analysis |
| CN104647367A (en) * | 2014-12-29 | 2015-05-27 | 合肥工业大学 | Rope cable composite driven parallel stacking robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2981176B1 (en) * | 2011-10-08 | 2013-11-29 | Eads Europ Aeronautic Defence | METHOD FOR OPTIMIZING THE TOLERANCING OF A SET OF FLEXIBLE PARTS SUBJECT TO EFFORTS |
-
2016
- 2016-07-04 CN CN201610519417.8A patent/CN107577828B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1807030A (en) * | 2006-02-17 | 2006-07-26 | 江苏大学 | Intellectualized model comprehension method of parallel robot mechanism |
| CN101829989A (en) * | 2010-04-29 | 2010-09-15 | 北京理工大学 | Low degree-of-freedom parallel robot multi-index optimization design method based on interval analysis |
| CN104647367A (en) * | 2014-12-29 | 2015-05-27 | 合肥工业大学 | Rope cable composite driven parallel stacking robot |
Non-Patent Citations (2)
| Title |
|---|
| 三自由度纯转动并联机构的工作空间分析;严骋;《机床与液压》;20141231;第42卷(第23期);87-89,92 * |
| 基于工作空间最大化的平面柔索驱动并联机构优化设计;张耀军 等;《机械工程学报》;20110731;第47卷(第13期);29-34 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107577828A (en) | 2018-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Lau et al. | Wrench-closure workspace generation for cable driven parallel manipulators using a hybrid analytical-numerical approach | |
| Pandilov et al. | Virtual modelling and simulation of a CNC machine feed drive system | |
| Urbikain et al. | A reliable turning process by the early use of a deep simulation model at several manufacturing stages | |
| Shen et al. | 3D printing build orientation optimization for flexible support platform | |
| Kabaldin et al. | CNC machine tools and digital twins | |
| CN107577828B (en) | Design method and device for maximizing rotation space of parallel mechanism | |
| Iglesias Sánchez et al. | A new approach to the consideration and analysis of critical factors in robotic machining | |
| Geng et al. | Analysis of nonlinear error caused by motions of rotation axes for five-axis machine tools with orthogonal configuration | |
| CN110674601B (en) | Multi-pose finite element modeling method for five-axis moving beam gantry vertical milling machine | |
| Sekar et al. | Design and implementation of high-performance real-time free-form NURBS interpolator in micro CNC machine tool | |
| Zhang et al. | An adaptive grinding method for precision-cast blades with geometric deviation | |
| Žán et al. | Design of robust PI controller by combining robustness regions with time-domain criteria | |
| Zhang et al. | Implementation of precision machine tool thermal error compensation in edge-cloud-fog computing architecture | |
| Sapietová et al. | Analysis of the dynamical effects on housing of the axial piston hydromotor | |
| Wiesauer et al. | Validation of a coupled simulation for machine tool dynamics using a linear drive actuator | |
| KOMAK et al. | THE GENERATION OF ROBOT EFFECTOR TRAJECTORY AVOIDING OBSTACLES. | |
| Li et al. | Design of Backstepping Sliding Mode Control for a Polishing Robot Pneumatic System Based on the Extended State Observer | |
| Satheeshbabu et al. | Qualitative mobility analysis of wire flexure systems using load flow visualization | |
| KR102006444B1 (en) | Method of derivation on the loop stiffness of a multi-axis machine tool | |
| CN117826704A (en) | Intelligent control method, system and medium for intelligent synchronous driving numerical control machine tool | |
| The Ho et al. | Studying the Factors Affecting Tool Vibration and Surface Quality during Turning through 3D Cutting Simulation and Machine Learning Model | |
| CN112733074B (en) | Method for drawing nonlinear stability and flutter process of machine tool cutting | |
| Burghardt et al. | Selection of Robotic Machining Parameters with Pneumatic Feed Force Progression | |
| Lipina et al. | Bend testing of parts made by Rapid Prototyping with respect to possible use in Robotics | |
| Xiaodiao et al. | Research on accuracy design for remanufactured machine tools |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |