空间绳牵引并联机器人多目标优化设计  

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

作　　者：陈杰[1,2] 孙霄龙 莫玮[1] 

机构地区：[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

出　　处：《华东师范大学学报（自然科学版）》2015年第1期142-150,共9页Journal of East China Normal University(Natural Science)

基　　金：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)

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.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.

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 

分 类 号：O224[理学—运筹学与控制论]