空间并联机构的弹动力学优化设计05637.docxVIP

学 位 论 文 空间并联机构的弹性动力学优化设计 A Dissertation submitted in fulfillment of the requirements of the degree of MASTER OF PHILOSOPHY from Shandong by Zhang Zhonggong Supervisor: Associate Professor Chen Xiulong College of Mechanical May 2014 声 明 本人呈交给山东科技大学的这篇硕士学位论文，除了所列参考文献和世所公认的文献外，全部是本人在导师指导下的研究成果。该论文资料尚没有呈交于其它任何学术机关作鉴定。 硕士生签名： 日 期： AFFIRMATION I declare that this dissertation, submitted in fulfillment of the requirements for the award of Master of Philosophy in Shandong University of Science and Technology, is wholly my own work unless referenced of acknowledge. The document has not been submitted for qualification at any other academic institute. Signature: Date: 摘 要 本论文对4-UPS/UPU空间并联机构的弹性动力学、动力学灵敏度和动力学优化设计进行了分析研究。 首先，对4-UPS/UPU空间并联机构进行弹性动力学分析，建立并联机构的弹性动力学模型；推导其动力学微分方程、驱动杆应力和系统频率的表达式，并应用Newmark法求解动力学微分方程，为该机构的弹性动力学灵敏度分析和弹性动力学优化设计奠定基础。 其次，运用并联机构的弹性动力学理论，以直接微分法推导并联机构的运动误差、驱动杆应力和系统频率对动平台质量和驱动杆截面积等设计参数的灵敏度公式；在此基础上，分析动平台的质量和驱动杆的截面面积对并联机构的运动误差、驱动杆应力和系统频率的影响，为该机构的弹性动力学优化设计提供理论依据。 最后，根据并联机构的弹性动力学分析和灵敏度分析，确定优化设计的设计变量、目标函数和约束条件函数，并推导出其函数表达式。根据优化问题类型分别应用线性加权法和理想点法将多目标函数转化为单目标函数，采用内惩罚函数法将有约束问题转化为无约束问题，然后采用遗传算法对处理后的优化问题进行优化。根据优化结果确定并联机构的弹性动力学行为得到明显改善。 关键词：弹性动力学，灵敏度，理想点法，内惩罚函数法，遗传算法 ABSTRACT Elastic dynamics, dynamics sensitivity and dynamics optimization design of 4-UPS/UPU spatial parallel mechanism are studied in this article. Firstly, elastic dynamics of 4-UPS/UPU spatial parallel mechanism is analyzed, and the elastic dynamics model of parallel mechanism is established. Expressions of elastic dynamic behaviors including dynamics differential equation, stress of driving limbs and system frequencies for 4-UPS/UPU spatial parallel mechanism are derived. The dynamics differential equation is solved by Newmark method, and provides a basis for the elastic dynamics s