基于MDO理論的3-RRS并聯(lián)機器人設計優(yōu)化.pdf

1、西南交通大學碩士學位論文基于MDO理論的3RRS并聯(lián)機器人設計優(yōu)化姓名：劉永均申請學位級別：碩士專業(yè)：機械設計及理論指導教師：李柏林20081201西南交通大學碩士研究生學位論文第1l頁AbstractModemmechanicalproductbecomesincreasinglycomplex，competitionsamongproducersbecomemorefuryandrigorous，thedemandsforcompr

2、ehensivepropertiesofproductsgetmuchhigherTraditionalmechanicalproductdesignfollowsaserialwayEachdisciplineisalwaysdesignedsequentiallyandseparatelyDuetosuchalackofconsiderationoftherelationshipbetweentheinterdisciplinary

3、interactionandtheoverallsystemperformancethroughoutthemechanismdesigncycle，sequentialdesignwillnotgettheglobaloptimaldecisionandalsohavemultipleiterativeorreworked，greatlylengl[henedthedesigncycleUnderthissitumion，inorde

4、rtoobtainamechanismwhichhasoptimumcomprehensiveproperties，theMultidisciplinaryDesignOptimization(MDO)theoryhastobeemployedTheMDOhasbeenwidelydiscussedandusedinaerospaceandaeronauticalindustriesandresultedinmorereliablean

5、dbetterproductsInMDO，thedesignerconcurrentlyconsiderstheinteractionsandcouplingeffectsamongdifferentsubsystem，soitisinclinedtoleadtOaglobaloptimaldesignresultswhichmustsimultaneouslymeettherequirementsofdisciplinesinvolv

6、edinMDOisseldomusedinthedesignofmechanismsThemotivationforthisresearchistheinvestigationofcurrentMDOalgorithmsandapplicationoftheMDOmethodtothedesignofcomplexmechanismsThemainimprovementworkincludes：(1)Themathematicalmod

7、elofMDOwasintroducedWithAnalysisontheideaandcharacteristicsofMDO，MDOtheorywascombinedwithmechanismsystemdesignTakingatypicalfourbarlinkageasanexample，theapplicationprocessofMDOtechnologyinmechanismsystemdesign(2)Withfurt

8、herstudyonCollaborativeOptimization(CO)algorithm，thecomputationalcomplexitymetinpracticalapplicationwasanalyzedandtheimprovementmeasuresweresummarizedComputationexampleisusedtotesttheimprovedCOalgorithm，theresultsshowtha