摆动柔顺式吊钩结构参数的多目标优化

doi:10.16183/j.cnki.jsjtu.2020.283

摘要/Abstract

摘要：

针对目前野战火箭炮发射箱装填过程的对准问题,提出一种新型末端执行机构——摆动柔顺式吊钩,并对其结构参数进行优化.首先,基于节点位移法建立描述摆动柔顺式吊钩性能的理论模型,并通过MATLAB分析摆动柔顺式吊钩的静态位移、静态应力和摆动曲线,验证模型工作的合理性.同时,采用实验设计方法筛选影响摆动柔顺式吊钩性能的主要结构参数,并建立表征摆动柔顺式吊钩综合性能的响应面模型.优化结果表明,当柔性机构长度为90 mm,其安装高度为23 mm,吊钩末端高度为110 mm时,摆动柔顺式吊钩在对接、起吊、转运和落装时的性能最优.

关键词: 发射箱, 装填系统, 柔性机构, 节点位移法, 实验设计方法

Abstract:

To solve the problems of alignment for launch container loading in field-artillery rocket, a novel end-effector, i.e., a swing-compliant hook, is proposed, whose structural parameters are optimized. First, the theoretical model describing the performance of the swing-compliant hook is established based on the node displacement method. The static displacement, static stress, and swing curve of the swing-compliant hook are analyzed by MATLAB, which verifies the rationality of the model. Then, the main structure parameters on the performance of the swing-compliant hook are obtained by using the experimental design method. Additionally, a response surface model characterizing the comprehensive performance of the swing-compliant hook is established. The optimization results show that when the length and the installation height of the compliant mechanism are 90 mm and 23 mm, and the end height of the lifting hook is 110 mm, the swing-compliant hook has an excellent performance in docking, lifting, transferring, and locating.

Key words: launch container, loading system, compliant mechanism, node displacement method, experimental design method

中图分类号:

葛世程, 郭着雨, 梁熙, 莫宗来, 李军. 摆动柔顺式吊钩结构参数的多目标优化[J]. 上海交通大学学报, 2021, 55(11): 1467-1475.

GE Shicheng, GUO Zhuoyu, LIANG Xi, MO Zonglai, LI Jun. Multi-Objective Optimization for Structural Parameters of Swing-Compliant Hook[J]. Journal of Shanghai Jiao Tong University, 2021, 55(11): 1467-1475.

图/表 16

图1

图2

图3

图4

图5

图6

图7

图8

图9

表1

表2

表3

表4

表5

响应面模型误差分析

输出响应	R²	$R adj 2$
R₁	0.9991	0.9980
R₂	0.9984	0.9963
R₃	0.9969	0.9930
R₄	0.9994	0.9987
R₅	0.9996	0.9991
R₆	0.9999	0.9999
R₇	0.9985	0.9966
R₈	0.9981	0.9956

表5

表6

表7

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工况	目标
空载	α₁、β₁最小; t_α、t_β最短
负载	α₂、β₂最大;σ_sum、σ_max最小

参数	最小值	步距	最大值	预设值
l_c/mm	70	5	130	100
b₁/mm	10	5	70	40
b₂/mm	30	5	90	60
h₁/mm	10	5	70	40
h₂/mm	40	5	100	70
h₃/mm	110	5	170	140

性能参数	初始性能参考取值	正相关参数/mm	负相关参数/mm
α₁/rad	-0.025	l_c	b₁
β₁/rad	0.005	b₁	h₁
α₂/rad	-0.189	l_c	b₁、h₁
β₂/rad	0.158	b₁	h₁
σ_sum/MPa	25.21	h₁	l_c、b₁
σ_max/MPa	5.37	b₁、 h₁	l_c
t_α/s	10.35	l_c、h₃	h₁、b₂
t_β/s	6.51	l_c、b₂、h₃	h₁

参数	θ₁贡献度/%	θ₂贡献度/%	σ_r贡献度/%	t_r贡献度/%
l_c	7.822	2.046	-21.556	22.798
b₁	-37.772	-0.713	-2.420	-0.104
b₂	-2.454	-0.169	0.403	-8.854
h₁	-31.504	-76.900	62.038	-32.084
h₂	-0.279	-0.310	-1.241	-4.160
h₃	0.619	4.425	0	6.454

序号	l_c/mm	h₁/mm	h₃/mm
1	90.61	22.39	110
2	94.87	23.32	110
3	106.05	28.49	110