基于含有冗余支链3-RPS/3-SPS并联机构的波浪能转换装置优化设计

doi:10.3901/JME.2019.23.093

机械工程学报 ›› 2019, Vol. 55 ›› Issue (23): 93-102.doi: 10.3901/JME.2019.23.093

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基于含有冗余支链3-RPS/3-SPS并联机构的波浪能转换装置优化设计

赵裕明¹, 金振林^1,2

1. 燕山大学机械工程学院秦皇岛 066004;
2. 河北省重型智能制造装备技术创新中心秦皇岛 066004

收稿日期:2019-03-15 修回日期:2019-08-01 出版日期:2019-12-05 发布日期:2020-02-18
通讯作者: 金振林(通信作者),男,1962年出生,博士,教授,博士研究生导师。主要研究方向为并联机器人设计理论与应用技术。E-mail:zljin@ysu.edu.cn
作者简介:赵裕明,男,1983年出生,博士研究生。主要研究方向为并联机器人技术及海浪发电技术。E-mail:420798@qq.com
基金资助:
国家自然科学基金重点资助项目（51335007）。

Optimal Design of Wave Power Generating Device Based on a Parallel Mechanism with 3-RPS/3-SPS Redundant Link

ZHAO Yuming¹, JIN Zhenlin^1,2

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. Heavy-duty Intelligent Manufacturing Equipment Innovation Center of Hebei Province, Qinhuangdao 066004

Received:2019-03-15 Revised:2019-08-01 Online:2019-12-05 Published:2020-02-18

摘要/Abstract

摘要： 提出了一种含有冗余支链的3-RPS/3-SPS并联机构，基于该机构设计了一种新型的海浪发电装置。对波浪中发电装置的浮子进行运动学建模，得到耦合运动方程并采用切片理论方法确定了方程中的水动力系数。通过分析浮子能量采集效率与浮子尺寸的关系，确定浮子直径为6 m时波浪能采集效率较高。建立了3-RPS/3-SPS机构支链与末端的速度映射关系，通过对液压缸的受力分析，推导出液压缸等效黏性阻尼系数，进而建立了修正的浮子运动方程，该方法同样适用于其他采用并联机构的海浪发电装置。定义了波能装置的有效工作空间评价指标、全域运动学性能评价指标及输出功率指标，绘制了各项指标在结构参数上的分布情况，基于性能评价指标对波能装置进行多目标结构参数优选，确定了一组综合性能较优的几何参数。优选结果表明：波能装置中机构几何参数R=5 m，r=2 m时，工作空间体积、运动学性能及输出功率等性能均有不同程度提升。该研究为海浪发电装置的设计和应用提供了理论基础。

关键词: 海浪发电, 并联机构, 浮体运动, 工作空间, 尺度优化

Abstract: A kind of 3-RPS/3-SPS parallel mechanism with redundant link is proposed, then a novel wave power generating device has been designed based on this mechanism. The kinematic model of floater under the action of wave has been analyzed to set up coupled motion equation, then the hydrodynamic coefficient is calculated by using of strip theory. It has been proved through analysis of the relationship between energy acquisition efficiency and size of floater that the wave energy efficiency has the highest value when the diameter of floater is 6 m. The velocity mapping relationship between 3-RPS/3-SPS link and end-effector have been established. The force analysis of hydraulic cylinder is conducted to obtain the equivalent viscous damping coefficient, and then the modified motion equations of floater have been established. This method is also applicable to other wave power generating devices based on parallel mechanism. The performance evaluation indexes of effective workspace and global kinematics, the output power index of mechanism have been defined together, then the distribution of these indexes in workspace is given. The multi-objective optimization design of wave power generating device based on performance evaluation indexes have been conducted, and a group of optimized geometric parameters are given. The optimization result shows that the performances of workspace, kinematics and output power have been improved in varying degrees when mechanism parameters R=5 m, r=2 m. This study provides the theories foundations for the development and applications of wave power generating device.

Key words: wave power generation, parallel mechanism, floating body movement, workspace, dimension optimization

中图分类号:

P7
TP242

赵裕明, 金振林. 基于含有冗余支链3-RPS/3-SPS并联机构的波浪能转换装置优化设计[J]. 机械工程学报, 2019, 55(23): 93-102.

ZHAO Yuming, JIN Zhenlin. Optimal Design of Wave Power Generating Device Based on a Parallel Mechanism with 3-RPS/3-SPS Redundant Link[J]. Journal of Mechanical Engineering, 2019, 55(23): 93-102.

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基于含有冗余支链3-RPS/3-SPS并联机构的波浪能转换装置优化设计

Optimal Design of Wave Power Generating Device Based on a Parallel Mechanism with 3-RPS/3-SPS Redundant Link

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