采用改进差分进化算法的四杆机构轨迹优化

Trajectory Optimization and Simulation of Planar Four-Bar Linkage Based on Improved Differential Evolution Algorithm

为了降低轨迹生成四杆机构所产生的横向和纵向误差,提高四杆机构的运动精度。采用了改进差分进化误差函数法对平面四杆机构轨迹进行优化,实现横向和纵向误差值最小化。建立平面四杆机构直角坐标系,分析连杆运动的相关设计参数,构造优化目标函数,采用改进差分进化误差函数对四杆机构多目标变量进行优化。结合具体实例,采用MATLAB软件对优化的四杆机构参数进行仿真,并且与欧几里得距离误差函数方法进行对比。仿真结果显示:欧几里得距离误差函数方法所产生的横向和纵向误差最大值分别为1.6×10^(-3)m和2.4×10^(-3)m,而采用改进差分进化误差函数法所产生的横向和纵向误差最大值分别为1.0×10^(-3)m和1.4×10^(-3)m,横向和纵向误差分别减少了37.5%和41.7%。采用改进差分进化误差函数法优化平面四杆机构,可以提高四杆机构运动精度。

In order to reduce the horizontal and vertical errors generated by the four-bar linkage ,the kinematic accuracy of the four-bar linkage is improved.ln this paper,an improved differential evolution error function method is used to optimize the traiectory of planar four-bar linkages.The plane four-bar linkage right angle coordinate system is established,and the relevant design parameters of the link motion are analyzed.The optimization objective function is constructed,and the multi objective variables of the four-bar linkage arc optimized by using the improved differential evolution errar function.Combined with concrete examples, using MATLAB software to simulate the optimization of a four-bar linkage parameters ,and compared with the Euclidean distance error function, method.Simulation results show that the Euclidean distance error function method of transverse and longitudinal error maximum value respectively 1.6×10^-3m and 2.4 ×10^-3m.And the improved differential evolution error function method,the maximum value of horizontal and vertical error respectively 1.0 ×10^-3m and 1.4×10^-3m, transverse and longitudinal error respectively reduce the 37.5% and 41.7%.The improved differential evolution error function method is used to optimize the planar four-bar linkage ,which can improve the motion accuracy of the four-bar linkage.