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冗余漂浮空间机器人多任务轨迹规划
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作者 赵素平 陈超波 +1 位作者 阎坤 宋晓华 《哈尔滨工程大学学报》 EI CAS CSCD 北大核心 2024年第9期1818-1825,共8页
针对冗余漂浮空间机器人在单次行程中连续执行多项轨道任务的能耗最优轨迹规划问题,本文提出一种改进遗传算法,将同时优化3种类型基因引入,使得每条染色体包含3部分,即任务序列、与任务序列对应的关节构型序列和描述机器人关节轨迹的正... 针对冗余漂浮空间机器人在单次行程中连续执行多项轨道任务的能耗最优轨迹规划问题,本文提出一种改进遗传算法,将同时优化3种类型基因引入,使得每条染色体包含3部分,即任务序列、与任务序列对应的关节构型序列和描述机器人关节轨迹的正弦多项式系数,对染色体的3部分进行独立编码,并在迭代寻优过程中对3个组成部分独立执行交叉和变异操作。仿真结果表明:与传统遗传算法相比,本文算法具有精度高、计算量少和CPU时间短的优点。 展开更多
关键词 空间机器人 自由度冗余 漂浮基座 多任务轨迹规划 关节构型 遗传算法 改进遗传算法 多刚体动力学
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An improved practical model for wear prediction of revolute clearance joints in crank slider mechanisms 被引量:8
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作者 LI Pei CHEN Wei ZHU AiBin 《Science China(Technological Sciences)》 SCIE EI CAS 2013年第12期2953-2963,共11页
A stationary clearance link algorithm(SCLA)for calculating the reaction-force of revolute clearance joints in crank slider mechanisms is proposed in this paper.The SCLA is more efficient than other algorithms of the s... A stationary clearance link algorithm(SCLA)for calculating the reaction-force of revolute clearance joints in crank slider mechanisms is proposed in this paper.The SCLA is more efficient than other algorithms of the same accuracy.Furthermore,based on the Winkler foundation model,an unsymmetrical Winkler foundation model and a double elastic layer Winkler model are proposed.By integrating a dynamic model and the unsymmetrical Winkler foundation model with Archard wear model,an improved integrated wear prediction model is also generated.A series of experiments have been performed to compare with the predicted analysis data,and the results showed a good agreement.As a real industry application,with the double elastic layer Winkler model,the integrated wear prediction model was successfully used to predict the wear depth of the joint bearing(bimetallic bearing)for the cantilever crane of a concrete pump truck of Sany Heavy Industry. 展开更多
关键词 revolute clearance joint stationary clearance link algorithm unsymmetrical Winkler foundation model double elastic layer Winkler model
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A new constitutive law for the nonlinear normal deformation of rock joints under normal load 被引量:5
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作者 RONG Guan HUANG Kai +2 位作者 ZHOU ChuangBing WANG XiaoJiang PENG Jun 《Science China(Technological Sciences)》 SCIE EI CAS 2012年第2期555-567,共13页
In view of the deviation of the fitting results of the classical exponential model and the hyperbolic model (the BB model) from several experiment data during intermediate stress period, a new constitutive model for... In view of the deviation of the fitting results of the classical exponential model and the hyperbolic model (the BB model) from several experiment data during intermediate stress period, a new constitutive model for the nonlinear normal deformation of rock joints under normal monotonous load is established with flexibility-deformation method. First of all, basic laws of the deformation of joints under normal monotonous load are discussed, based on which three basic conditions which the complete constitutive equation for rock joints under normal load should meet are put forward. The analysis of the modified normal con- stitutive model on stress-deformation curve shows that the general exponential model and the improved hyperbolic model are not complete in math theory. Flexibility-deformation monotone decreasing curve lying between flexibility-deformation curve of the classical exponential model and the BB model is chosen, which meets basic conditions of normal deformation mentioned before, then a new normal deformation constitutive model of rock joints containing three parameters is established. Two main forms of flexibility-deformation curve are analyzed and specific math formulas of the two forms are deduced. Then the range of the parameters in the g-δ model and the g-2 model and the correlative influence factor in geology are preliminarily discussed. Referring to different experiment data, the validating analysis of the g-δ model and the g-γ model shows that the g-2 model can be applied to both the mated joints and unmated joints. Besides, experiment data can be better fit with the g-2 model with respect to the BB model, the classical exponential model and the logarithm model. 展开更多
关键词 rock joints normal deformation constitutive model FLEXIBILITY
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