摘要
建立了3-RUU并联微动机器人机构的伪刚体数学模型,并给出了速度雅可比矩阵和误差映射矩阵;分析了机构尺寸对机构操作性、精度性能的影响,在此基础上应用遗传算法对机构尺寸参数进行综合优化,并对优化结果进行仿真。优化结果与尺寸型法选择的初选值的仿真对比表明:采用遗传算法实现并联机构的多目标优化设计是适宜可行的。
Through predigesting a novel parallel micro-motion manipulator into 3-RUU model according to the principle of the motion equivalent, the Pseudo Rigid Body Model and its kinematic error model was established. Then, based on the discussion of the relationship among the dexterity, accuracy and architecture, the parametric variables of the micromanipulator were optimized with genetic algorithm. Comparing with the results of traditional method, genetic algorithm shows its efficient for the selection of the parametric variables.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第5期554-559,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(60275031)
北京市先进制造技术重点实验室开放基金资助项目(KP0100200201)
关键词
多目标优化
雅可比矩阵
误差映射矩阵
遗传算法
multi-objective optimization
Jacobian matrix
error transformation matrix
genetic algorithm
