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基于遺傳算法的冗余任務并聯(lián)機器人驅動優(yōu)化
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江蘇省科技支撐計劃資助項目（BE2008133）


Drive Optimization of Parallel Robot under Redundant Tasks Based on Genetic Algorithm
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    摘要:

    以六棱錐式并聯(lián)機器人為研究對象,，采用拉格朗日法建立機構動力學模型,，結合直線電動機設計原理,，獲得驅動電流與任務軌跡之間變化的對應關系,?；谶z傳算法以瞬時動能最小為優(yōu)化目標對電動機驅動力進行優(yōu)化，優(yōu)化后能耗較非冗余任務能耗降低了47.6%,。進行了樣機冗余任務軌跡實驗,，實驗結果表明電流變化與仿真結果吻合，驗證了優(yōu)化方法的可行性和合理性,。

    Abstract:

    A six pyramid parallel robot was taken as the object, and the dynamic model of the robot was established by using the Lagrange method. The relationship between the drive current and tasks trajectory was analyzed combined with the design principle of linear motor. With the goal of minimum instantaneous kinetic energy, motor drive was optimized based on genetic algorithm. Energy consumption optimized was reduced by 47.6% compared with non redundant tasks. The experiment of redundant track tasks was carried out. The experimental results showed that the current change was in good agreement with the simulation results, and the feasibility and rationality of this optimization method was verified. 

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劉瑋,常思勤.基于遺傳算法的冗余任務并聯(lián)機器人驅動優(yōu)化[J].農業(yè)機械學報,2012,43(4):221-224,220. Liu Wei, Chang Siqin. Drive Optimization of Parallel Robot under Redundant Tasks Based on Genetic Algorithm[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(4):221-224,220.

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  • 在線發(fā)布日期: 2012-04-18
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