摘要
讨论了单铰柔韧性机器人手臂在第一振频给定的条件下其体积的优化问题，主要采用阶梯折算法将问题归结为非线性规划问题，利用简约梯度法进行优化，并给出了一些具体实例．
The problem of optimal design for the volume of one link flexible manipulator operated with given fundamental vibration frequency is investigated. By using the method of stepped reduction, the problem is simplified into non linear programming one and is solved by using the gradient method in some illustrations.
出处
《甘肃工业大学学报》
1998年第3期39-43,共5页
Journal of Gansu University of Technology
关键词
机器人
阶梯折算法
梯度法
手臂
体积
robot, stepped reduction, gradient method, optimal step, initial parameter method
