基于头部运动要求的六自由度头盔伺服系统尺寸优化设计及其方法

doi:CNKI:11-1929/V.20101111.0914.029

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基于头部运动要求的六自由度头盔伺服系统尺寸优化设计及其方法

李鹏, 顾宏斌, 吴东苏

南京航空航天大学民航学院, 江苏南京 210016

收稿日期:2010-08-02 修回日期:2010-09-14 出版日期:2011-04-25 发布日期:2011-04-25
通讯作者: Tel.: 025-84893501 E-mail: ghb@nuaa.edu.cn E-mail:ghb@nuaa.edu.cn
作者简介:李鹏(1983- ) 男,博士研究生。主要研究方向:并联机器人设计与控制、飞行模拟仿真。 Tel: 025-84890755 E-mail: lipengaq@nuaa.edu.cn 顾宏斌(1957- ) 男,博士,教授,博士生导师。主要研究方向:机电控制、飞行模拟仿真、飞机起落架与飞机系统设计等。 Tel: 025-84893501 E-mail: ghb@nuaa.edu.cn
基金资助:
国家"863"计划(2007AA01Z306); 国家自然科学基金(60776812); 江苏省2010年度普通高校研究生科研创新计划项目(CX10B_103Z)

Dimensional Design and Corresponding Methodology for Helmet Mounted Display with 6-DOF Parallel Manipulator Based on Requirements of Head Motion

LI Peng, GU Hongbin, WU Dongsu

College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2010-08-02 Revised:2010-09-14 Online:2011-04-25 Published:2011-04-25

摘要/Abstract

摘要： 以头部运动特性为设计要求,对六自由度头盔伺服系统的尺寸优化设计及其方法进行了研究。通过实验数据分析,总结了飞行学员训练过程中头部的运动特性。将运动特性分为两类——必备指标和可选指标,并以此为设计性能要求,定义了头盔伺服系统各运动特性指标的目标函数,并结合非线性最小二乘法的原理,建立了优化问题的数学模型。提出了一种基于CVT(Centroidal Voronoi Tessellation)的非线性最小二乘改进算法,该方法首先利用CVT的特性对设计参数进行初始化,得到多组能均匀覆盖参数空间的参数初值,然后从不同的参数初值出发,采用非线性最小二乘法对优化问题进行求解,得到了多组可行解。数值仿真结果表明,所有优化结果的性能指标均满足必备指标要求,且新方法具有很强的全局搜索能力。以可选指标——工作空间灵活度最优作为判别准则,确定了问题的最优解,并通过最优解的部分性能指标分析,进一步验证了本文优化方法的有效性。

关键词: 并联机构, 尺寸设计, 优化, 头部运动, 非线性最小二乘法, 必备指标, 可选指标

Abstract: In this paper, a dimensional design and its corresponding methodology for helmet mounted display with a 6-DOF parallel manipulator (HMDPM) is investigated while characteristics of head motion are considered as design criterions. The characteristics of head motion in flight training are summarized based on data from many experiments. In practice, design criterions are classified into compulsory requirements and relaxable requirements, and the objective functions regarding the kinematic performances of the HMDPM are defined according to all criterions, while the mathematical model of optimization is established in accordance with the principle of nonlinear least squares. The paper presents a novel methodology—modified nonlinear least squares based on centroidal Voronoi tesselation(CVT)—which initializes the design parameters with CVT and solves the optimization problem by means of the nonlinear least squares method, thus obtaining several feasible solutions.The numerical simulations show that each design solution satisfies all the compulsory criterions and the new method has a better ability for global optimization. Additionally, the best solution is determined by taking into account the optimization of relaxable requirements—dexterity in workspace, and the feasibility of the new method is further verified by analyzing the partial indices of the optimal mechanism.

Key words: parallel manipulator, dimensional design, optimization, head motion, nonlinear least-squares method, compulsory requirement, relaxable requirement

中图分类号:

V244
TH113

李鹏, 顾宏斌, 吴东苏. 基于头部运动要求的六自由度头盔伺服系统尺寸优化设计及其方法[J]. 航空学报, 2011, 32(4): 739-750.

LI Peng, GU Hongbin, WU Dongsu. Dimensional Design and Corresponding Methodology for Helmet Mounted Display with 6-DOF Parallel Manipulator Based on Requirements of Head Motion[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(4): 739-750.

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E-mail：hkxb@buaa.edu.cn

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基于头部运动要求的六自由度头盔伺服系统尺寸优化设计及其方法

Dimensional Design and Corresponding Methodology for Helmet Mounted Display with 6-DOF Parallel Manipulator Based on Requirements of Head Motion

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