摘要
利用差分进化算法对Stewart-Gough平台进行优化。首先,对Stewart-Gough平台的对称结构和非对称结构进行了介绍;其次,通过综合考虑工作空间的限制,工作空间内存在奇异结构以及成本高这3个因素的影响定义了目标函数;最后,选定用于优化的工具为差分算法,并使用差分算法对Stewart-Gough平台进行了优化。优化结果表明,合理选择Stewart-Gough平台的结构及其参数,可达到最大化有效载荷或最小化每条腿上所需要的力(用以抵消外界施加在动平台上的力)的目的。与其他算法相比,差分算法具有较好的全局寻优能力,选用差分进化算法作为优化工具,优化及仿真过程借助MATLAB来实现。
The Stewart-Gough platform is optimized by using the differential evolution algorithm. Firstly,the symmetric structure and unsymmetric structure of Stewart-Gough platform are introduced. Secondly,the objective function is defined by considering the effects of the limited of workspace,the singularity con? gurations existing inside the workspace and the high cost. Finally,the tool selected for optimization is the differential evolution algorithm,and it is used to optimize the structure of Stewart-Gough platform. The results of optimization suggests that the aim of maximize the payload and minimize the forces at each leg needed to counteract external forces applied to the mobile platform can achieved by appropriate select the Stewart-Gough platform structure and parameters. Compared with other algorithms,the differential evolution algorithm has better global search ability,thus select the differential evolution algorithm as optimization tools. The optimization and simulation process are achieved by using MATLAB.
出处
《机械传动》
CSCD
北大核心
2018年第3期66-71,共6页
Journal of Mechanical Transmission
