摘要
本文分析介绍了近年来兴起的智能优化算法—遗传算法用于并联机构优化设计的基本思想和应用方法.以雅可比矩阵的条件数为优化设计目标,建立了S tew art并联机构结构参数优化设计的数学模型,分别采用两种编码方式优化设计了平台的结构参数,并用M ATLAB软件编程,得到了较为合理的结果.
This paper presents a discussion on the basic idea and method of the application of an intelligent optimization algorithm, that is, the genetic algorithm, to the optimization design of the mechanical system of parallel robot,to be more exact,the structure of the Stewart parallel platform. First,a new method for computing Jacobian is introduced. Then,a mathematical model of optimization design of structural parameters of the parallel platform is constructed. Using MATLAB, a GA program is developed to solve the optimal values of these structural parameters. It is shown that the result is satisfactory and the method is effective.
出处
《内蒙古工业大学学报（自然科学版）》
2005年第2期148-153,共6页
Journal of Inner Mongolia University of Technology：Natural Science Edition
关键词
遗传算法
并联机构
优化设计
雅可比矩阵
genetic algorithms
parallel robot
Jacobian matrix
optimal design
