华东师范大学学报(自然科学版) ›› 2015, Vol. 2015 ›› Issue (1): 142-150.doi: 10.3969/j.issn.1000-5641.2015.01.018

• 计算机科学 • 上一篇    下一篇

空间绳牵引并联机器人多目标优化设计

陈杰1,2, 孙霄龙2, 莫玮1   

  1. 1. 西安电子科技大学 机电工程学院, 西安 710071;
    2. 长江计算机(集团)公司, 上海 200001
  • 收稿日期:2014-06-01 出版日期:2015-01-25 发布日期:2015-03-29
  • 通讯作者: 陈杰, 男, 博士研究生, 研究方向为测试计量技术、智能控制. E-mail:rdcchji@sina.com
  • 作者简介:第二作者: 孙霄龙, 男, 工程师, 研究方向为电子工程, 智能控制. E-mail: xiaolong.sun@cjcc.cn 第三作者: 莫玮, 男, 教授, 博士生导师, 研究方向为智能化仪器.E-mail: mowei2014@sina.com
  • 基金资助:

    上海市高新技术产业化专项资金项目(JJ-GXCY-04-10-0540);
    上海市软件和集成电路产业发展专项资金项目(RX-RJJC-03-10-3803)

The multi-object optimization of a spatial cable-driven parallel manipulator

 CHEN  Jie1,2, SUN  Xiao-Long2, MO  Wei1   

  1. 1. School of Electro-Mechanical Engineering, Xidian University, Xi’an 710071, China;
    2. Changjiang Computer Group Corporation, Shanghai 200001, China
  • Received:2014-06-01 Online:2015-01-25 Published:2015-03-29

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摘要： 以6自由度空间绳牵引并联机器人工作空间体积、最小索力和全局灵巧度为优化目标,在保证绳索张力范围的前提下建立了多目标优化的数学优化模型.采用神经网络-遗传算法求得优化的3组满意解,并采用灰色聚类法选择多目标优化时的权重系数.仿真结果表明该优化方法可以有效地实现结构的优化,为同类绳牵引并联机器人的设计提供了有益的参考

关键词: 绳牵引并联机器人, 多目标结构优化, 神经网络, 遗传算法, 灰色聚类

Abstract: This paper investigates the multi-object optimization for a spatial 6-DOF (degree-of-freedom) cable-driven parallel manipulator. The optimization based on an NN (neural network)-genetic algorithm was carried out respectively with regarded to workspace volume, the minimum tension and global dexterity index, then three groups of satisfactory solutions were obtained. Furthermore, the weight coefficients for the multi-object optimization model were gained through the grey clustering method. The results show that the NN-genetic algorithm is effective for the structural optimization and can provide a useful reference for the optimal design of similar manipulators

Key words: cable-driven parallel manipulator, multi-object structural optimization, neural network, genetic algorithm, grey clustering method

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