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J4  2011, Vol. 45 Issue (2): 209-216    DOI: 10.3785/j.issn.1008-973X.2011.02.003
徐敬华, 张树有, 伊国栋, 屠立, 光耀
浙江大学 机械工程学系,浙江 杭州 310027
Object variation oriented kinematics optimization design
for manipulator
XU Jing-hua, ZHANG Shu-you, YI Guo-dong, TU Li, GUANG Yao
Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
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To meet the requirements of object variation during design process for mechanism, an object variation oriented kinematics optimization design method for manipulator was presented. In Denavit-Hartenberg coordinate system, the position and orientation of the end effector of manipulator compared to the frame coordinate system was obtained using recurrence homogeneous transformations. The non-numerical set mapping rules were built to achieve explicit expressions of variation objects on the basis of existing design objects through numeric differential expression based on Lagrange interpolation polynomial. The multi-dimensional continuous design variables were discretized into discrete grids. The essence of simulated annealing algorithm was employed to the ant colony optimization. The random thermal perturbations at a given temperature conforming to a Boltzmann distribution was used to express the probability that the ant visiting between the nodes. The multiexpressions of variation objects were then resolved. The solutions were selected from Pareto optimal front based on fuzzy set. The end effector of manipulator was finally optimized to meet the kinematics characteristics in the specified trajectory. The independent prototype system has been developed and the design of single loop open chain 6R manipulator was realized. The test results proved that the proposed method helps to realize variation objects representation, resolution and solutionselection rapidly. It also has reference significance to the design of other complex products.

出版日期: 2011-03-17
:  TP 24  


通讯作者: 张树有,男,教授,博导.     E-mail:
作者简介: 徐敬华(1979—),男,山东胶南人,博士后,主要研究方向为CAD/CAE/KBE.E-mail:
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徐敬华, 张树有, 伊国栋, 屠立, 光耀. 面向目标变异的操作臂运动学优化设计[J]. J4, 2011, 45(2): 209-216.

XU Jing-hua, ZHANG Shu-you, YI Guo-dong, TU Li, GUANG Yao. Object variation oriented kinematics optimization design
for manipulator. J4, 2011, 45(2): 209-216.


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