基于Isight的3—UPS—S并联机器人机构多目标优化

Multi-objective Optimization of 3—UPS—S Parallel Mechanism Based on Isight

摘要:

综合考虑并联机器人机构工作空间、灵巧度、承载能力、刚度等多方面性能要求，以3—UPS—S型并联机构为例，基于Isight集成Matlab、Pro/E、ANSYS等软件，构建多目标优化设计基本流程，进行并联机构多目标尺度综合，建立一种并联机构多目标优化的方法。研究结果表明，该方法可以有效集成各领域工程软件进行组合试验设计与多目标优化，实现自动计算运动学和动力学性能指标、自动三维模型建立及有限元分析等步骤，得到Pareto图及Pareto前沿，决策者可根据优化信息选取合适的最优解。

Abstract:

With the overall consideration of the various performance of the parallel robot (e.g. workspace, dexterity, bearing capacity, stiffness, etc.), a basic procedure was carried out for the multi-objective optimization with the example of 3—UPS—S based on the integration of Matlab, Pro/E, ANSYS by Isight, and a multi objective dimensional synthesis was carried out for the parallel mechanism. Thus, a method was proposed for the multi-objective optimization of parallel mechanism based on Isight. The result of the analysis indicated that the proposed method could automatically solve the kinematic and dynamic performance, achieve modeling and finish the finite element analysis for the design of experiments and multi-objective optimization with the integration of the engineering software. Through the Pareto graph and the Pareto front obtained, the designer could select the appropriate optimal solution for the parallel mechanism with more information.