摘要
平面并联连杆机构设计中,基于谐波特征参数的特点,提出了平面并联五杆机构的谐波特征多目标遗传优化方法。基于谐波特征参数,利用平面五杆机构参数设计的通用公式,得到平面并联五杆机构基于工作空间的解析解,并将此解析解用于生成NSGA-Ⅱ遗传优化算法的初代个体。将主动关节扭矩、主动臂转角、机构惯量作为优化目标,构建机构的多目标遗传优化模型,并根据并联机构的特点,对遗传算法中的遗传算子加入偏好性,提高了算法效率。
In the design of planar parallel linkage mechanism,based on the characteristics of harmonic characteristic parameters,a multi-objective genetic optimization method for harmonic characteristics of planar parallel five-bar mechanism was proposed.Based on the harmonic characteristic parameters and the general formula of parameter design of planar five-bar mechanism,the analytical solution of planar parallel five-bar mechanism based on workspace was obtained,and this analytical solution was used to generate the first generation individual of NSGA-II genetic optimization algorithm.As the torque of the active joint,the rotation angle of the active arm and the inertia of the mechanism were the optimization objectives,the multi-objective genetic optimization model of the mechanism was constructed.According to the characteristics of the parallel mechanism,the preference was added to the genetic operator in the genetic algorithm to improve the efficiency of the algorithm.
作者
王洪涛
李占贤
WANG Hong-tao;LI Zhan-xian(College of Mechanical Engineering,North China University of Science and Technology,Tangshan Hebei 063210,China;Hebei Industrial Robot Industry Research Institute,Tangshan Hebei 063010,China)
出处
《华北理工大学学报（自然科学版）》
CAS
2021年第4期45-51,共7页
Journal of North China University of Science and Technology：Natural Science Edition
基金
河北省自然科学基金项目(E2016209312)
河北省创新能力提升计划项目(199676195H)。
关键词
谐波特征参数
平面并联五杆机构
尺度综合
多目标优化
NSGA-Ⅱ
harmonic characteristic parameters
planar parallel five-bar mechanism
scale synthesis
multi-objective optimization
NSGA-II
