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浙江大学学报(工学版)
J4  2010, Vol. 44 Issue (12): 2360-2364    DOI: 10.3785/j.issn.1008-973X.2010.12.021
机械工程     
串联机械臂结构优化方法
丁渊明, 王宣银
浙江大学 流体传动及控制国家重点实验室,浙江 杭州 310027
Optimization method of serial manipulator structure
DING Yuan-ming, WANG Xuan-yin
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
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摘要：

为解决串联机械臂结构优化问题,提出一种基于工作空间和能量消耗综合指标的机械臂结构优化方法.该方法在机械臂原有结构设计的基础上,以满足原有全局性能指标约束为前提,以机械臂工作空间和特定工作区域上的能量消耗为性能指标,利用遗传算法优化机械臂结构参数,使优化后的机械臂不但具有原设计工作空间特性,而且运行能量消耗最优；推导了基于工作空间和能量消耗的综合性能指标计算方法,并给出基于实数编码遗传算法的机械臂结构优化算法.在某6R型串联机械臂结构优化上的应用结果表明：该机械臂结构优化方法能有效地优化机械臂结构，减小运行能量消耗,优化结果能够满足预定工作空间特性约束.
Abstract:

A structure optimization method based on comprehensive performance index of workspace and energy cost was presented for serial manipulator structure. Based on the original structure design, this method takes the global conditioning index as a premise, and takes the workspace characteristics and energy cost in particular working area as a comprehensive performance index. By using the real coded genetic algorithm, this method optimizes manipulator geometric parameters to minimize the running energy cost and maintain the original workspace design. The calculation formulas of the comprehensive performance index of workspace and energy cost were deduced and a detailed manipulator structure optimization algorithm was also given. Results of the structural optimization of a 6R serial manipulator proved that this method can optimize structure parameters to save the energy cost efficiently, and the optimal manipulator satisfies all workspace constraints, which means this method can provide reference for the design of manipulator structure.
出版日期: 2010-12-01
:  TP 242.2  
通讯作者: 王宣银，男，教授.     E-mail: xywang@zju.edu.cn
作者简介: 丁渊明（1980—），男，山东淄博人，博士生，从事机械电子控制研究.E-mail: jdadai@163.com
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引用本文:

丁渊明, 王宣银. 串联机械臂结构优化方法[J]. J4, 2010, 44(12): 2360-2364.

DING Yuan-ming, WANG Xuan-yin. Optimization method of serial manipulator structure. J4, 2010, 44(12): 2360-2364.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2010.12.021    或    http://www.zjujournals.com/eng/CN/Y2010/V44/I12/2360

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