【摘要】 以2自由度球面5R并联机构为研究对象,应用教学优化(Teaching-learning-based optimization,TLBO)算法求解机构尺度优化设计问题。首先,采用坐标变换法推导机构位置反解方程,再以传动角为机构运动或力传递性能评价指标,进而给出球面5R并联机构的优质传递工作空间(Good transmission workspace,GTW)定义和数值计算方法。以最大化GTW面积为目标,建立机构尺度参数约束优化模型,并用TLBO算法求解该问题。结果表明,文中给出的优化模型和算法是可行有效的。更多还原

【Abstract】 The 2-degree-of-freedom spherical 5R parallel mechanism is taken as the research object,and teaching-learning-based optimization(TLBO)algorithm is applied to solve the optimization design problem of mechanism dimensional parameters. The expression of inverse positional analysis for the mechanism is derived by means of coordinate transformation. Consequently,the transmission angle is used as the evaluation index of motion/force transmission performance,and then the definition and numerical calculation method of good transmission workspace(GTW)are given. Taking the maximizing area of GTW as object,a constrained optimization model of dimensional parameters is established,and TLBO algorithm is employed to solve this problem. The results show that the presented model and algorithm are feasible and effective.更多还原