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针对高速高加速度的平面并联机构,采用面向控制系统的机构设计方法,对机械结构进行优化设计.分别在运动学、动力学层面上提出多个性能指标,以其作为目标函数和约束条件建立了标准的多目标优化模型.基于NSGA-II算法求解多目标优化问题,进行尺度综合.最终结果表明,优化后的机构能较大程度上消除系统耦合,提升动态性能,为高速控制系统设计提供良好的机械硬件平台.
Aiming at the plane parallel mechanism with high speed and high acceleration, the mechanism design of the control system is adopted to optimize the mechanical structure.Many performance indexes are put forward respectively at the kinematics and dynamics levels, which are set as the objective function and constraint Standard multi-objective optimization model based on NSGA-II algorithm for solving multi-objective optimization problems, the scale of the final results show that the optimized mechanism can largely eliminate the system coupling to improve dynamic performance for high-speed control system design to provide a good The mechanical hardware platform.