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基于螺旋理论的Delta并联机器人自由度分析 被引量:4
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作者 史振灵 张国英 《机床与液压》 北大核心 2017年第5期5-9,共5页
螺旋理论以其几何概念清楚,物理意义明确,表达形式简单等优势,常被用于分析机构的自由度。按照传统的G-K(Grubler-Kutzbach)公式,能较容易地计算出串联机构的自由度,而对于一些特殊机构,尤其是含有闭环子链的复杂并联机构,往往无法便捷... 螺旋理论以其几何概念清楚,物理意义明确,表达形式简单等优势,常被用于分析机构的自由度。按照传统的G-K(Grubler-Kutzbach)公式,能较容易地计算出串联机构的自由度,而对于一些特殊机构,尤其是含有闭环子链的复杂并联机构,往往无法便捷、正确地求解其自由度。为解决以上问题,以一种拓扑结构为[3-R(4S)&1-RUPU]+R型的Delta并联机器人为研究对象,对其4S闭环子链进行了等效运动副螺旋系的求解,并判别了机构的局部自由度以及公共约束;利用修正的G-K公式,分别对原机构和等效后的机构进行了自由度的验证。结果表明:两种情形下的自由度数均为4,且自由度的性质为3平移1旋转,与实际设计相符。 展开更多
关键词 螺旋理论 闭环子链 等效运动副螺旋系 自由度 公共约束
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Remanufacturing closed-loop supply chain network design based on genetic particle swarm optimization algorithm 被引量:10
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作者 周鲜成 赵志学 +1 位作者 周开军 贺彩虹 《Journal of Central South University》 SCIE EI CAS 2012年第2期482-487,共6页
As the huge computation and easily trapped local optimum in remanufacturing closed-loop supply chain network (RCSCN) design considered, a genetic particle swarm optimization algorithm was proposed. The total cost of c... As the huge computation and easily trapped local optimum in remanufacturing closed-loop supply chain network (RCSCN) design considered, a genetic particle swarm optimization algorithm was proposed. The total cost of closed-loop supply chain was selected as fitness function, and a unique and tidy coding mode was adopted in the proposed algorithm. Then, some mutation and crossover operators were introduced to achieve discrete optimization of RCSCN structure. The simulation results show that the proposed algorithm can gain global optimal solution with good convergent performance and rapidity. The computing speed is only 22.16 s, which is shorter than those of the other optimization algorithms. 展开更多
关键词 genetic particle swarm optimization closed-loop supply chain REMANUFACTURING network design reverse logistics
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