面向任务约束的可重构机械臂最优构形设计  

Design of Optimal Configuration for Reconfigurable Manipulator with Task Constraint

作　　者：吴勇[1] 杜艳丽[1] Wu Yong;Du Yanli(College of Electrical Information Engineering,Beihua University,Jilin 132021,China)

机构地区：[1]北华大学电气信息工程学院,吉林吉林132021

出　　处：《北华大学学报（自然科学版）》2017年第6期808-814,共7页Journal of Beihua University（Natural Science）

基　　金：吉林省教育厅科学技术研究项目(2015135)

摘　　要：为解决受限可重构机械臂在完成任务时的最优构形确定问题,提出一种基于自适应粗粒度并行遗传算法(adaptive coarse parallel genetic algorithms,ACPGA)的构形确定方法:以关节模块和连杆模块的加权和为目标函数,在满足可达性、关节转角限制和避免构形奇异的约束条件下,综合考虑模块数量和连接方位,确定可重构机械臂在受限空间内完成任务的最优构形.通过实例验证了该构形方法的有效性.In order to solve the optimal configuration of task requirements for the constraint reconfigurable manipulator,an adaptive coarse parallel genetic algorithm was introduced for the optimization of reconfigurable manipulator configurations.A weighted sum of the numbers of different types of modules was chosen as the objective function.The reachability,joint angle availability and singular configuration were defined as constraint conditions,and considering the number of modules and the connection orientation,an adaptive coarse grained parallel genetic algorithm was employed to search for the optimal configuration of the reconfigurable manipulator in constraint space.The effectiveness of the proposed approach is demonstrated by an example.

关 键 词：可重构机械臂 模块划分 构形优化 自适应粗粒度并行遗传算法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]