Multi-Objective Optimization for Structural Parameters of Swing-Compliant Hook

doi:10.16183/j.cnki.jsjtu.2020.283

Abstract

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

CLC Number:

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.

Figures/Tables 16

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Tab.5

Error analysis of response surface model

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

Tab.5

Tab.6

Tab.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