摘要
基于传统最优化理论及经验估计法的机械结构优化设计存在局部极值、对目标函数的可微性有严格要求、优化结果与初始值有较大的相关性等。以五自由度机械臂杆件长度优化设计为例,建立以机械臂各杆件长度为变量的总功率、各关节角加速度和结构紧凑性的目标函数,运用多目标遗传算法结合模糊判断策略的智能优化方法,并与传统设计方法的求解计算进行对比分析,表明智能优化方法对机械臂杆件长度的优化设计结果更加满足经济性、稳定性和结构空间的要求。
The structural optimal design based on traditional optimization theory and experience estimation exists many weak points,such as the local optimum、strict differentiability demand of objective function and the optimization results sensitive to the initialization values,which are hard to be conquered.An idiographic problem about the length optimization design of five freedoms robotic arm is solved in this paper.The object function about gross power,angular accelerations of each articulation、structural compactness,is found;the length of each articulation is optimized using combining multiple objective genetic algorithms with fuzzy judgment as an intelligent optimization method.Comparing the results between the traditional method and intelligent one,it shows that the intelligent optimization method can meet the requests of economy,stability and structural space.
出处
《机械科学与技术》
CSCD
北大核心
2012年第5期766-770,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
总装备部重点科研项目(TB0602078)资助
关键词
多目标优化设计
遗传算法
机械臂杆长
模糊判断
multi-objective optimal design
genetic algorithms
length of robotic arm
fuzzy judgement
