并联机构敏感性分析和多目标优化设计方法

doi:10.3901/JME.2022.19.229

机械工程学报 ›› 2022, Vol. 58 ›› Issue (19): 229-241.doi: 10.3901/JME.2022.19.229

扫码分享

并联机构敏感性分析和多目标优化设计方法

杨超¹, 叶伟², 陈巧红³

1. 嘉兴学院机电工程学院嘉兴 314001;
2. 浙江理工大学机械与自动控制学院杭州 310018;
3. 浙江理工大学信息学院杭州 310018

收稿日期:2021-12-06 修回日期:2022-07-14 出版日期:2022-10-05 发布日期:2023-01-05
通讯作者: 陈巧红(通信作者)，女，1978年出生，博士，副教授，研究生导师。主要研究方向为并联机器人。E-mail：chen_lisa@zstu.edu.cn
作者简介:杨超，男，1982年出生，博士，讲师。主要研究方向为并联机器人运动学、刚度、动力学和多目标优化。E-mail：cyang@zjxu.edu.cn
基金资助:
国家自然科学基金(51775513)和浙江省自然科学基金(LY17E050028)资助项目。

Sensitivity Analysis and Multi-objective Optimization Design of Parallel Manipulators

YANG Chao¹, YE Wei², CHEN Qiaohong³

1. College of Mechanical and Electrical Engineering, Jiaxing University, Jiaxing 314001;
2. Mechatronic Institute, Zhejiang Sci-Tech University, Hangzhou 310018;
3. School of Information, Zhejiang Sci-Tech University, Hangzhou 310018

Received:2021-12-06 Revised:2022-07-14 Online:2022-10-05 Published:2023-01-05

摘要/Abstract

摘要： 为了解决并联机构全局性能指标高计算成本引起的敏感性分析和多目标优化设计困难，提出了一种结合多项式响应面模型、基于方差的敏感性分析方法和智能优化算法的高效计算方法。首先，确定并联机构的目标函数和设计参数，增加节点密度以提高目标函数的计算精度，基于拉丁超立方体抽样方法和最小二乘多项式拟合技术建立全局目标函数与设计参数之间的响应面解析映射模型，并结合基于方差的Sobol’敏感性分析方法得到对目标函数有重要影响的设计参数。然后，结合敏感性分析结果简化设计参数并建立并联机构的多目标优化设计模型，包括目标函数、约束函数和设计参数，结合响应面模型与智能优化算法开展并联机构多目标优化设计。最后，考虑规则工作空间体积、运动学性能和动力学性能指标为目标函数，以DELTA并联机构为例实现了本文提出的方法。优化前后的结果对比证明了算法的有效性。

关键词: 并联机构, 多目标优化设计, 性能指标, 敏感性分析

Abstract: An efficient calculation method combining multivariate regression response surface model (RSM), variance based sensitivity analysis method, and intelligent optimization algorithm to solve the high computation-intensive of sensitivity analysis and multi-objective optimization design of parallel manipulators (PMs) caused by the high computational cost of global performance indices (GPIs). First, establish objective functions and design parameters of PMs, increase the node density to improve the calculation accuracy of GPIs, establish the analytical RSM between the GPI and the design parameters using the Latin hypercube sampling method and least squares multivariate fitting technique, and then combine with the RSM and variance based Sobol’s sensitivity analysis method to obtain the important design parameters to the objective influence. Second, simplify design parameters based on the sensitivity analysis results and establish the multi-objective optimization design mathematical model of PMs, including objective functions, design parameters and constraint functions. Combine with RSMs and intelligent optimization algorithm to carry out multi-objective optimization design of PMs. Finally, considering the regular workspace volume, global kinematic and dynamic performance indices as objective functions, the DELTA PM is taken as an example to implement the proposed method. The comparison of the results before and after optimization proves the effectiveness of the proposed method.

Key words: parallel manipulator, multi-objective optimization design, performance index, sensitivity analysis

中图分类号:

TH112

杨超, 叶伟, 陈巧红. 并联机构敏感性分析和多目标优化设计方法[J]. 机械工程学报, 2022, 58(19): 229-241.

YANG Chao, YE Wei, CHEN Qiaohong. Sensitivity Analysis and Multi-objective Optimization Design of Parallel Manipulators[J]. Journal of Mechanical Engineering, 2022, 58(19): 229-241.

参考文献

[1] ASADA H. A geometrical representation of manipulator dynamics and its application to arm design[J]. Transactions of ASME Journal of Dynamic systems，1983，105(3):131-142.
[2] D'EGIDIO M. Device for the movement and positioning of an element in space:US Patent 4976582[P]. 1990.
[3] HONG J H，YAMAMOTO M. A calculation method of the reaction force and moment for a Delta-type parallel link robot fixed with a frame[J]. Robotica，2009，27:579-587.
[4] YAN S J，ONG S K，NEE A Y C. Stiffness analysis of parallelogram-type parallel manipulators using a strain energy method[J]. Robotics and Computer-Integrated Manufacturing，2016，37:13-22.
[5] KUMAR V. Characterization of workspaces of parallel manipulators[J]. Journal of Mechanical Design，1992，114(3):368-375.
[6] 张伟中，李金平，叶敏，等. 2PUR-PSR并联机构尺度综合多目标优化[J]. 农业机械学报，2020，51(11): 403-410. ZHANG Weizhong，LI Jinping，YE Min，et al. Multi-objective optimization of dimensional synthesis for 2PUR-PSR parallel manipulator[J]. Transactions of the Chinese Society for Agricultural Machinery，2020，51(11):403-410.
[7] THANH V T，HUNG C X. Design optimization of Stewart platform for motion simulation systems using multi-objective genetic algorithm[C]// Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics，Hong Kong，China，July 8-12，2019:436-440.
[8] QUINTERO-RIAZA H F，MEJIA-CALDERON L A，DIAZ-RODRIGUEZ M. Synthesis of planar parallel manipulators including dexterity，force transmission and stiffness index[J]. Mechanics Based Design of Structures and Machines，2019，47(6):680-702.
[9] HUANG Guanyu，GUO Sheng，ZHANG Dan，et al. Kinematic analysis and multi-objective optimization of a new reconfigurable parallel mechanism with high stiffness[J]. Robotica，2018，36(2):187-203.
[10] STAN S-D，MATIES V，BALAN R，et al. Potentialities of optimal design methods for the development of mini parallel robots using genetic algorithms[C]// Proceedings of the IEEE，International Conference on Automation and Logistics，2007:1591-1596.
[11] BOUNAB B. Multi-objective optimal design based kineto-elastostatic performance for the delta parallel mechanism[J]. Robotica，2016，34(2):258-273.
[12] KELAIAIA R，ZAATRI A，COMPANY O，et al. Some investigations into the optimal dimensional synthesis of parallel robots[J]. International Journal of Advanced Manufacturing Technology，2016，83:1525-1538.
[13] SUN Tao，LIAN Binbin. Stiffness and mass optimization of parallel kinematic machine[J]. Mechanism and Machine Theory，2018，120:73-88.
[14] ZHANG Dan，WEI Bin. Interactions and optimizations analysis between stiffness and workspace of 3-upu robotic mechanism[J]. Measurement Science Review，2017，17(2):83-92.
[15] MIRSHEKARI E，GHANBARZADEH A，SHIRAZI K H. Structure comparison and optimal design of 6-rus parallel manipulator based on kinematic and dynamic performances[J]. Latin American Journal of Solids and Structures，2016，13(13):2414-2438.
[16] CHEN Qiaohong，YANG Chao. Hybrid algorithm for multi-objective optimization design of parallel manipulators[J]. Applied Mathematical Modelling，2021，98:245-265.
[17] LIAN Binbin，SUN Tao，SONG Yimin. Parameter sensitivity analysis of a 5-DoF parallel manipulator[J]. Robotics and Computer-Integrated Manufacturing，2017，46:1-14.
[18] SALTELLI A，ANNONI P，AZZINI I，et al. Variance based sensitivity analysis of model output. Design and estimator for the total sensitivity index[J]. Computer Physics Communications，2010，181(2):259-270.
[19] RABITZ H，ALI M F，SHORTER J，et al. Efficient input-output model representations[J]. Computer Physics Communications，1999，117:11-20.
[20] BABU S R，RAJU V R，RAMJI K. Design optimization of 3PRS parallel manipulator using global performance indices[J]. Journal of Mechanical Science and Technology，2016，30(9):4325-4335.
[21] YANG Chao，LI Qinchuan，CHEN Qiaohong. Multi-objective optimization of parallel manipulators using a game algorithm[J]. Applied Mathematical Modelling，2019，74:217-243.
[22] YANG Chao，LI Qinchuan，CHEN Qiaohong. Analytical elastostatic stiffness modeling of parallel manipulators considering the compliance of the link and joint[J]. Applied Mathematical Modelling，2020，78:322-349.
[23] 张伟中，徐灵敏，童俊华，等. 2-PUR-PSR并联机构的运动学分析及尺度综合[J]. 机械工程学报，2018，54(7):45-53. ZHANG Weizhong，XU Lingmin，TONG Junhua，et al. Kinematic analysis and dimensional synthesis of 2-pur-psr parallel manipulator[J]. Journal of Mechanical Engineering，2018，54(7):45-53.
[24] FATTAH A，GHASEMI A M H. Isotropic design of spatial parallel manipulators[J]. The International Journal of Robotics Research，2002，21:811-824.
[25] ANGELES J. Is there a characteristic length of a rigid-body displacement?[J]. Mechanism and Machine Theory，2006，41(8):884-896.
[26] 陈祥，谢福贵，刘辛军. 并联机构中运动/力传递功率最大值的评价[J]. 机械工程学报，2014，50(3): 1-9. CHEN Xiang，XIE Fugui，LIU Xinjun. Evaluation of the maximum value of motion/force transmission power in parallel manipulators[J]. Journal of Mechanical Engineering，2014，50(3):1-9.
[27] WANG Jinsong，WU Chao，LIU Xinjun. Performance evaluation of parallel manipulators: Motion/force transmissibility and its index[J]. Mechanism and Machine Theory，2010，45(10):1462-1476.
[28] 黄真，刘婧芳，李艳文. 论机构自由度[M]，北京: 科学出版社，2011. HUANG Zhen，LIU Jingfang，LI Yanwen. Degree of freedom of mechanism[M]. Beijing:Science Press，2011.
[29] WAN Xiaojin，YANG Junqiang，ZHANG Yan. Dynamic performance optimization of a novel 8-spu parallel walking mechanism[J]. Journal of Computing and Information Science in Engineering，2020，20(4):041004.
[30] YOSHIKAWA T. Dynamic manipulability of robot manipulators[C]// Proceedings of the IEEE International Conference on Robotics and Automation，St. Louis，MO，USA ，March 25-28，1985，1033-1038.
[31] ZHANG Jun，ZHAO Yanqin，CECCARELLI M. Elastodynamic model-based vibration characteristics prediction of a three prismatic-revolute-spherical parallel kinematic machine[J]. Journal of Dynamic Systems Measurement and Control-Transactions of the ASME，2016，138(4):041009.
[32] YANG Chao，LI Qinchuan，CHEN Qiaohong. Natural frequency analysis of parallel manipulators using global independent generalized displacement coordinates[J]. Mechanism and Machine Theory，2021，156:104145.
[33] FANG Jianguang，GAO Yunkai，SUN Guangyong，et al. Multiobjective reliability-based optimization for design of a vehicle door[J]. Finite elements in analysis and design，2013，67:13-21.

并联机构敏感性分析和多目标优化设计方法

Sensitivity Analysis and Multi-objective Optimization Design of Parallel Manipulators

PDF

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]	魏永峭, 张晋, 王少江, 漆小虎, 郭瑞, 杨海江. 变双曲圆弧齿线圆柱齿轮传动界面磨损规律及敏感性分析[J]. 机械工程学报, 2024, 60(5): 81-94.
[2]	吕利叶, 鲁玉军, 王硕, 刘印, 李昆鹏, 宋学官. 代理模型技术及其应用：现状与展望[J]. 机械工程学报, 2024, 60(3): 254-281.
[3]	王旭, 姜兴宇, 杨国哲, 孙猛, 于沈弘, 毕凯航, 赵日铮, 刘伟军. 基于PSO-SSA的激光清洗装备人机界面布局优化研究[J]. 机械工程学报, 2024, 60(20): 372-387.
[4]	沈惠平, 李菊, 朱小蓉, 李涛, 孟庆梅, 朱伟, 叶鹏达. 基于最优路径的并联机构自由度计算方法及其新公式[J]. 机械工程学报, 2024, 60(19): 40-52.
[5]	张雷雨, 常雅威, 俞振东, 于洋, 李剑锋, 张斐然. 并联腕康复机器人的设计与运动学性能评价[J]. 机械工程学报, 2024, 60(17): 123-132.
[6]	梁旭, 张建勇, 李国涛, 苏婷婷, 何广平, 侯增广. 面向骨折复位手术的冗余并联机构：设计、建模与性能分析[J]. 机械工程学报, 2024, 60(17): 133-146.
[7]	田波, 娄军强, 沈家旭, 柳丽, 陈特欢, 李国平, 魏燕定. 可用于微创手术的毫米级微小并联机器人的设计、制造及实现[J]. 机械工程学报, 2024, 60(17): 147-155.
[8]	郑思远, 田俊杰, 王立鹏, 刘世创, 王洪波, 牛建业. 紧凑型刚柔耦合腰部康复机器人设计与分析[J]. 机械工程学报, 2024, 60(17): 156-166.
[9]	赵峰, 胡伟飞, 李光, 邓晓豫, 刘振宇, 郭云飞, 谭建荣. 基于混合指标自适应采样代理模型的多目标优化设计方法[J]. 机械工程学报, 2024, 60(13): 81-91.
[10]	吴震, 李秦川, 叶伟. 基于固有频率的运动冗余并联机构位置逆解优选方法[J]. 机械工程学报, 2024, 60(13): 297-307.
[11]	刘晓飞, 陈冉, 万波, 郭孟涛, 赵永生. 多冗余驱动并联机构2RPU+2UPR+RPR的动力学建模与控制策略研究[J]. 机械工程学报, 2024, 60(11): 237-249.
[12]	刘晓飞, 万波, 陈冉, 袁徽铭, 赵永生. 对称超冗余驱动6RPS并联机构运动性能分析与优化[J]. 机械工程学报, 2024, 60(1): 235-247.
[13]	孙鹏, 戴显永, 李研彪, 杨奎. 基于3-RRP并联机构的腕关节设计与分析[J]. 机械工程学报, 2023, 59(5): 112-120.
[14]	张涵寓, 宋周洲, 刘钊, 朱平. 碳纤维复合材料与铝合金胶铆混合连接力学性能可靠性研究[J]. 机械工程学报, 2023, 59(24): 334-343.
[15]	郭建英, 梁晋, 刘建泽, 滕光蓉, 石炜, 刘良宝. 航空发动机机匣多边并联加载装置设计及精度分析[J]. 机械工程学报, 2023, 59(23): 23-32.