基于遗传算法的轨迹综合撑膜机械手优化设计  

Comprehensive Trajectory Optimization Design of Membrane Supporting Manipulator Based on Genetic Algorithm

作　　者：陈延伟[1] 张浩[1] 史远鹏 刘万熙 马瀚 孔帅 CHEN Yanwei;ZHANG Hao;SHI Yuanpeng;LIU Wanxi;MA Han;KONG Shuai(School of Mechatronic Engineering,Changchun University of Technology,Changchun 130000,China)

机构地区：[1]长春工业大学机电工程学院,长春130000

出　　处：《机械工程师》2021年第12期18-20,共3页Mechanical Engineer

基　　金：吉林省科技厅医药健康领域重点研发项目“医疗超声探头自动上膜装置的研究与开发”(20200404146YY)。

摘　　要：为降低医务人员的劳动程度,提出了一种撑膜机械手。为满足不同种类探头的撑膜要求,以实际轨迹与给定轨迹的位置误差最小为目标函数,建立撑膜机械手的轨迹综合优化模型,通过遗传算法求解得到一组满足不同种类探头撑膜需求的结构参数。对撑膜机械手进行试验,验证撑膜机械手的实用性。In order to reduce the labor of medical staff,a membrane supporting manipulator is proposed.In order to meet the requirements of different types of probes,the objective function is to minimize the position error between the actual trajectory and the given trajectory.A comprehensive trajectory optimization model of the manipulator is established,and a set of structural parameters that meet the requirements of different types of probes are obtained through genetic algorithm.The membrane supporting manipulator is tested to verify the practicability of the membrane supporting manipulator.

关 键 词：隔离膜 结构设计 轨迹优化 试验验证 

分 类 号：TH122[机械工程—机械设计及理论]