Robust Optimization of Planar Constrained Mechanical System with Varying Joint Clearance Size Based on Sensitivity Analysis

摘要

This paper is devoted to a general methodological study on sensitivity analysis and robust optimization for a planar crank-slider mechanism in presence of joint clearances and random parameters and investigate the effects of parameter uncertainty on optimization results when joint clearance sizes are constantly changing due to wear. The first-order sensitivity analysis based on the response surface proxy model is performed. Then, a multiobjective robust optimization algorithm based on sensitivity analysis is carried out to reduce the undesirable effects of joint clearances and random parameters. In the algorithm, a multiobjective robust optimization model derived from the mean and variance of the objective function is constructed. Here, the objective function is defined based on the consideration of reducing the contact force generated at all clearance joints. Additionally, in order to balance computational accuracy and efficiency in the multiobjective robust optimization process, high-precision Kriging agent models are established. The optimum values of design variables are determined by combining Monte Carlo sampling and multiobjective particle swarm optimization method. By combining the Baumgarte approach with Lankarani–Nikravesh contact force model and Coulomb friction model, the dynamic equations of the planar multibody system with clearance joints are established. The uniform probability distribution is applied for characterizing random parameters. Simulation results show that the influence of design variable variations on the objective function changes in relation to the joint clearance size, but their relative influence degree on the objective function will not vary with the size of joint clearances. Moreover, the optimal solution selected on the Pareto front will affect the average levels and peak fluctuations of the dynamic responses in multibody systems.