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基于遺傳算法的冗余任務(wù)并聯(lián)機(jī)器人驅(qū)動(dòng)優(yōu)化
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江蘇省科技支撐計(jì)劃資助項(xiàng)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(jī)器人為研究對(duì)象,，采用拉格朗日法建立機(jī)構(gòu)動(dòng)力學(xué)模型,，結(jié)合直線電動(dòng)機(jī)設(shè)計(jì)原理,，獲得驅(qū)動(dòng)電流與任務(wù)軌跡之間變化的對(duì)應(yīng)關(guān)系。基于遺傳算法以瞬時(shí)動(dòng)能最小為優(yōu)化目標(biāo)對(duì)電動(dòng)機(jī)驅(qū)動(dòng)力進(jìn)行優(yōu)化,，優(yōu)化后能耗較非冗余任務(wù)能耗降低了47.6%。進(jìn)行了樣機(jī)冗余任務(wù)軌跡實(shí)驗(yàn),，實(shí)驗(yàn)結(jié)果表明電流變化與仿真結(jié)果吻合,，驗(yàn)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(wù)并聯(lián)機(jī)器人驅(qū)動(dòng)優(yōu)化[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),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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