具有参数区间不确定的机械臂结构优化

Structural optimization for manipulator with interval uncertainties

针对具有参数区间不确定的某重载机械臂结构优化问题,该文提出了基于区间不确定分析的性能优化方法和量子进化算法。该方法首先将参数区间变化从参数变差空间映射到目标和约束空间,得到目标和约束性能的灵敏度区域估计,结合给定的性能退化阈值,确定性能优化指标,并作为原优化问题的附加约束,形成外层-内层的优化结构。同时采用改进的双链量子进化算法,以改善普通进化优化算法的收敛速度和优化结果。仿真结果表明,该方法既能保证结构在参数摄动情况下的鲁棒性,又能达到结构轻量化目的,可以有效解决具有参数区间不确定的复杂工程结构优化问题。

To solve the structural optimization problem of heavy-load manipulator with parameter un-certainties,this paper presents a performance optimization technique based on interval uncertainty analysis and a quantum-inspired evolutionary algorithm. In the proposed approach,the parameter per-turbations are mapped from variation space into objective and constraint space, and the sensitivity regions of objective and constraints are estimated. The performance optimization index as an additional constraint of original optimization problem can be determined. Combining the given performance degradation threshold an outer-inner structure is formed. An improved double chains quantum evolutionary algorithm is employed to improve the convergence rate and the results of the conventional evolutionary algorithm. Computer simulation shows both the robustness of the structure in the case of structure parameter perturbation and the purpose of weight reduction can be achieved,＆amp;nbsp;providing an approach to solve the complex engineering structural optimization problems with parameter uncertainties effectively.