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工程科学与技术:2019,51(4):185-191
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面向非线性矛盾目标的微夹持系统参数优化
(1.山东理工大学 农业工程与食品科学学院, 山东 淄博 255049;2.大连理工大学 机械工程学院, 辽宁 大连 116081;3.山东理工大学 机械工程学院, 山东 淄博 255049)
Parameter Optimization of Micro-gripper System for Nonlinear Contradictory Objectives
(1.School of Agricultural Eng. and Food Sci., Shandong Univ. of Technol., Zibo 255049,China;2.School of Mechanical Eng., Dalian Univ. of Technol., Dalian 116081, China;3.School of Mechanical Eng., Shandong Univ. of Technol., Zibo 255049, China)
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投稿时间:2018-05-30    修订日期:2018-07-18
中文摘要: 分辨率和最大输出位移是微定位系统互相矛盾的两个关键性能指标,传统以柔度为目标的结构优化设计不能满足系统的这些性能要求。因此,作者建立了综合考虑两者的优化设计模型,并针对该模型含非线性矛盾目标的特点,提出了相应的求解方法。首先,选取对系统性能影响较大的参数作为优化变量,根据各变量间的相互制约关系及设计要求建立约束条件;然后,建立只含优化变量的最大输出位移和分辨率的参数表达式,分别作为目标函数和约束条件函数。最后,采用综合分支定界法、内点法和外点法的合成算法用于求解该类优化模型。该合成算法以应用内点法获得的优化模型的任一可行解为搜索起点,并根据外点法的求解结果,应用分支定界法逐渐缩小最优解的搜索范围,最终求得最优解。将该方法应用于一种微夹持系统,对求解结果分析可得,在分辨率要求的不同取值范围内,分辨率要求对最大输出位移的约束作用的强度是不同的。该综合方法直接考虑系统矛盾目标变量,进行微定位系统参数优化,实现了全局优化。
Abstract:Maximum output displacement and resolution are two contradictory performance indexes of micro positioning system. Usually, the two important indexes cannot be satisfied simultaneously by flexibility-targeting structure optimization method. A final optimal model was established considering both output displacement and resolution. And the corresponding solution was established for the special model with two non-linear contradictory objectives. Firstly, the parameters with a greater effect on the whole performance of the system were found out and the optimization variables were obtained. Constrained condition was built up according to the design requirements and relationship among these variables. Secondly, by the usage of these optimization variables, two expressions for the maximum output displacement and the resolution were built up and defined as objective function and constrained function respectively. At last, a synthetic algorithm was adopted to solve this kind of optimization model by integrating three methods, that’s the branch and bound method, interior point method and exterior point method. The optimization model was obtained by interior point method. The synthetic algorithm took any one of the possible solutions of this optimization model as the starting point. The branch and bound method were applied to narrow searching scope. Then the final optimized solution could be obtained based on the solution of exterior point method. The method was applied to a micro-griper system. Results showed that the constrained effect on the maximum output displacement was different when the resolution requirement changed within different scopes. During the process of parameter optimization for the micro-griper system, the global optimization was realized by taking into account of two contradictory objectives.
文章编号:201800605     中图分类号:TH112.5    文献标志码:
基金项目:国家自然科学基金项目(61303006);山东省优秀中青年科学家科研奖励基金项目(BS2012ZZ009);淄博市校城融合项目(2017ZBXC151)
作者简介:张彦斐(1977-),女,教授,博士.研究方向:机器人技术及装备.E-mail:1392076@sina.com
引用文本:
张彦斐,贾国朋,宫金良,王志文.面向非线性矛盾目标的微夹持系统参数优化[J].工程科学与技术,2019,51(4):185-191.
ZHANG Yanfei,JIA Guopeng,GONG Jinliang,WANG Zhiwen.Parameter Optimization of Micro-gripper System for Nonlinear Contradictory Objectives[J].Advanced Engineering Sciences,2019,51(4):185-191.