[1]代小林,王鹏,宫大为.基于免疫遗传算法的冗余并联机构多目标优化[J].哈尔滨工程大学学报,2018,39(12):2033-2039.[doi:10.11990/jheu.201706007]
 DAI Xiaolin,WANG Peng,GONG Dawei.Multi-objective optimization of redundant parallel mechanism based on immune genetic algorithm[J].hebgcdxxb,2018,39(12):2033-2039.[doi:10.11990/jheu.201706007]
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基于免疫遗传算法的冗余并联机构多目标优化(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
39
期数:
2018年12期
页码:
2033-2039
栏目:
出版日期:
2018-12-05

文章信息/Info

Title:
Multi-objective optimization of redundant parallel mechanism based on immune genetic algorithm
作者:
代小林12 王鹏1 宫大为12
1. 电子科技大学 机械与电气工程学院, 四川 成都 611731;
2. 电子科技大学 机器人中心, 四川 成都 611731
Author(s):
DAI Xiaolin12 WANG Peng1 GONG Dawei12
1. School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China;
2. Center for Robotics, University of Electronic Science and Technology of China, Chengdu 611731, China
关键词:
并联机器人冗余支撑功率优化速度优化驱动力优化免疫遗传算法多目标优化
分类号:
TH112.1
DOI:
10.11990/jheu.201706007
文献标志码:
A
摘要:
针对电动并联机构驱动能力不足的问题,提出用3条冗余支腿来平衡负载的结构。同时,考虑到实际工况下,速度、驱动力和功率峰值过高给机构带来的负面影响,使用免疫遗传算法对该并联机构的结构参数进行多目标优化。仿真结果表明:与典型的六自由度并联机构相比,优化后电动支腿的速度峰值下降13.83%,驱动力峰值下降24.50%,功率峰值下降45.68%。该冗余结构及优化方案,能够有效提高电动并联机构的驱动能力,适用于重载运动模拟试验台。

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备注/Memo

备注/Memo:
收稿日期:2017-6-2。
基金项目:国家自然科学基金项目(51305066,61603076);四川省科技厅计划项目(2016GZ0198);中央高校基本科研业务费项目(ZYGX2016J200,ZYGX2016J116).
作者简介:代小林(1978-),男,副教授;宫大为(1981-),男,副教授.
通讯作者:宫大为,E-mail:pzhzhx@126.com.
更新日期/Last Update: 2018-12-01