• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2016, Vol. 52 ›› Issue (17): 105-115.doi: 10.3901/JME.2016.17.105

• 机构学及机器人 • 上一篇    下一篇

考虑静柔度约束的A3并联动力头轻量化设计*

李祺, 刘海涛, 黄田   

  1. 天津大学机构理论与装备设计教育部重点实验室 天津 300072
  • 出版日期:2016-09-05 发布日期:2016-09-05
  • 作者简介:李祺，男，1984年出生，博士研究生。主要研究方向为制造装备与系统，并联装备的刚度设计。

    E-mail：liqi@tju.edu.cn

    刘海涛(通信作者)，男，1981年出生，博士，副教授。主要研究方向为制造装备与系统，机器人学。

    E-mail：liuht@tju.edu.cn

    E-mail：tianhuang@tju.edu.cn

  • 基金资助:
    * 国家科技重大专项资助项目(2014ZX04014-031); 20150905收到初稿，20160711收到修改稿;

Lightweight Design of the A3 Spindle Head Based on the Compliance Constraint of the End-effectors

LI Qi, LIU Haitao, HUANG Tian   

  1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education， Tianjin University， Tianjin 300072
  • Online:2016-09-05 Published:2016-09-05

摘要：

研究一种考虑静柔度约束的3自由度并联动力头——A3头的轻量化设计方法。该方法针对航空铝合金结构件高速铣削工艺，首先建立静柔度约束，然后建立部件柔度、质量与设计参数间的响应面模型，进而将A3头的设计问题归结为一类以静柔度和几何干涉为约束条件，以运动部件质量最轻为目标的有约束非线性设计问题，并借助多岛遗传算法(MIGA)求解。仿真验证表明，与原设计相比，在运动部件质量增加3.6%的前提下，系统的静柔度降低超过50%，低阶固有频率提高30%。该方法为此类装备的工程设计提供一种有效手段。

关键词: 并联动力头, 静柔度, 轻量化设计

Abstract:

An approach for the lightweight design of a 3-DOF spindle head—A3 head designed for high-speed milling of large aircraft structural components is presented. The approach can be implemented by two steps: ① formulation of the compliance bounds in the local coordinate system according to the processing parameters for high-speed milling, ② minimization of the overall weight of the movable components subject to the compliance and geometrical constraint using the response surface method and the multi-island genetic algorithm (MIGA) integrated in iSIGHT. Compared to the original design, the simulation results show that the compliance of the system can be decreased by more 50%, and the first order frequency can be increased by 30% at the cost of increasing the weight of movable components by just 3.6%. The approach has been successfully employed to design the equipment.

Key words: compliance, parallel spindle head, lightweight design

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