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| Multi-objective optimization design for mechanical performance of the forging manipulator |
| Received:January 23, 2014 Revised:May 23, 2014 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7511/jslx201502001 |
| KeyWord:forging manipulator main-motion mechanism force analysis multi-objective optimization |
| Author | Institution |
| 孙文杰 |
大连理工大学 工程力学系 工业装备结构分析国家重点实验室, 大连 |
| 李刚 |
大连理工大学 工程力学系 工业装备结构分析国家重点实验室, 大连 |
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| Abstract: |
| The forging manipulator is heavy-duty equipment and usually needs clamp a heavy workpiece to cooperate with the forging press.In order to prevent local excessive forces from endangering the safety of the mechanical structure, the mechanical performance design for the forging manipulator is carried out.Taking a typical DDS forging manipulator as a study object, the average forces acting on some key parts of the mechanism during the whole work space are chosen as optimization objectives based on the sensitivity analysis, and then the size optimization for the main-motion mechanism of the manipulator is performed to properly distribute the forces of the mechanism using multi-objective genetic algorithm NSGA Ⅱ.The result shows that the optimized manipulator has better mechanical behavior than the initial design, which is helpful to the mechanism design of the manipulator. |