针对舰船载3UPS-3SS并联机构存在体积大、力传递性能差等问题，对该机构进行性能分析和尺度参数多目标优化。利用矢量法构建位置反解模型和约束方程组，推导出运动学反解和速度表达式，并求得速度雅克比矩阵。结合实际工况建立运动模拟模型，得到机构物理体积表达式，并通过Matlab软件采用快速极坐标搜索法绘制其可达工作空间。基于速度雅克比矩阵，评估机构的力传递性等性能。建立尺度参数多目标优化模型，采用第三代非支配排序遗传算法（NSGA-III）对3个性能指标进行优化设计，并对优化结果进行分析，最终优化后在工作空间体积损失率仅为14.01%的情况下，物理体积减小17.58%，平均最小奇异值增大207.14%，为该机构的控制和实际应用提供理论基础。
In order to solve the problems such as large volume and poor force transmission performance of the shipborne 3UPS-3SS parallel mechanism, the performance analysis and multi-objective optimization of scale parameters were carried out on the institution. The vector method is used to construct the position inverse solution model and constraint equations, and the kinematic inverse solution and velocity expression are derived, and the velocity Jacobian matrix is obtained. Combined with the actual working conditions, the motion simulation model was established, the physical volume expression of the mechanism was obtained, and the fast polar coordinate search method was used to draw the achievable working space by Matlab software. Based on the velocity Jacobi matrix, the performance of the mechanism such as force transmission is evaluated. A multi-objective optimization model for scale parameters was established, and the third-generation Non-dominated Sorting Genetic Algorithm (NSGA-III) was used to optimize the design of the three performance indicators, and the optimization results were analyzed, and finally the physical volume decreased by 17.58% and the average minimum singular value increased by 207.14% when the volume loss rate of the working space was only 14.01%, which provided a theoretical basis for the control and practical application of the mechanism.
2025,47(14): 121-127 收稿日期：2024-8-12
DOI：10.3404/j.issn.1672-7649.2025.14.018
分类号：TH112
基金项目：国家自然科学基金资助项目（51805228）；江苏省高等学校自然科学研究项目（22KJB460021，23KJA460006）；常州市领军型创新人才引进培育项目（CQ20210093，CQ20220089）
作者简介：党磊(1998-),男,硕士研究生,研究方向为并联机构控制
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