针对海军大型武器的对接装填自动化需求，为提高装填安全性和效率，该文提出一种三索并联机器人，实现弹体自动化转运和装填，并完成了该三索并联机器人的尺寸优化设计方法研究。考虑索塔高度对于建造难度、重量及成本等影响，将参数优化设计分为全局搜索优化及局部搜索优化。全局搜索通过对所有设计参数进行采样搜索得到索塔高度为关键设计参数，基于悬臂梁位移公式得到索塔高度及直径相关性，从而建立索塔高度与索力变化率的无量纲优化函数，得到索塔及索径优化结果。在全局搜索优化结果基础上，以最大索力最小化为设计参数优化指标，得到所有设计参数的优化值，并最终得到平动轨迹上的索力变化曲线。设计方案、优化方法及参数优化结果可为后续海军弹体装填自动化设备提供参考和依据。
A three-cable parallel robot was developed for naval missile systems for automatic transfer and loading of the missile with improved loading safety and efficiency. A two-step optimization method was used to completely consider the construction difficulties, weight and cost of the missile loading system with a global search optimization and a local search optimization. The global search considers all the search parameters to determine the tower height as the key design parameter. Then, a cantilever displacement formula is used to relate the cable tower height and diameter with a dimensionless optimization function for the cable force rate of change as a function of the tower height. An optimization function is then used to minimize the maximum cable force. This design optimization method is useful for designing naval automatic projectile loading systems.
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