关键词: 锻造操作机;操作性能;方向可操作度;全域性能;多目标优化

Abstract: To meet the performance requirements better in different cases, a multiobjective optimization strategy is presented for the comprehensive manipulation performance indices of the forging manipulator based on the previous work. The velocity dexterity, force bearing capability and kinematic decoupling are selected to evaluate the manipulation performance of the manipulator. The velocity dexterity and force capability are analyzed based on the manipulability ellipsoid, and their directional manipulability measurement is defined in terms of the directional property of the manipulation performance. Two global performance indices, which consider the mean value and standard deviation of the manipulation performance, are used to measure the manipulation performance over the entire workspace. The multiobjective optimization based on the proposed performance evaluation system is performed using NSGA II algorithm, to improve the comprehensive performance indices of the manipulator by optimizing the mechanism parameters. The optimization result shows that the proposed performance evaluation and optimization method for the forging manipulator are feasible, which are helpful to practical design of the manipulator.

Key words: forging manipulator;manipulation performance;directional manipulability measure;global performance;multiobjective optimization