摘要
针对六轴串联机械臂结构强度问题,提出了一种基于多目标遗传算法(MOGA)的机械臂尺寸参数优化方法。对机械臂关键部件进行了静力学分析,得到了关键部件的应力和变形云图,基于静力学分析结果对关键部件的尺寸参数进行了优化。由优化结果得到了各输入参数与输出参数之间的响应曲面及敏感度,明确了各输入参数与输出参数之间的关系。运用多目标遗传算法进行求解计算,得到了一组可以达到预期目标的最优设计点。分析结果表明,优化后的机械臂其形变量与最大应力均有所下降,验证了多目标遗传算法参数优化方法的有效性。
Aiming at the structural strength of the series manipulator,a genetic algorithm based on multi-objective size parameter optimization method for manipulators is proposed.The static analysis of the key components of the manipulator is carried out,and the stress,strain and deformation cloud diagrams of the key components are obtained.Based on this,the genetic algorithm is used to optimize the multi-objective size parameters.The response surface and sensitivity column diagram between each input parameter and output parameter is obtained from the optimization result,and the relationship between each input parameter and output parameter is clarified.By using the multi-objective genetic algorithm(MOGA)solution calculation,a set of optimal design points that can achieve the desired goal is obtained.The results show that the deformation and maximum stress of the manipulator are reduced,which proves the effectiveness of the multi-objective size optimization method of genetic algorithm.
作者
王宪伦
段奕林
Wang Xianlun;Duan Yilin(College of Mechanical and Electrical Engineering,Qingdao University of Science and Technology, Shandong Qingdao, 266061, China)
出处
《机械设计与制造工程》
2020年第12期1-4,共4页
Machine Design and Manufacturing Engineering
