基于轨迹条件灵巧度的机械臂规格优化设计  

Optimization Design of Robotic Arm Specifications Based on Trajectory Condition Dexterity

作　　者：辛欣 周广越 秦亚凡 王子荣 罗树武 XIN Xin;ZHOU Guangyue;QIN Yafan;WANG Zirong;LUO Shuwu

机构地区：[1]华北理工大学机械工程学院,河北唐山063210

出　　处：《今日自动化》2024年第1期33-35,共3页Automation Today

摘　　要：文章基于轨迹条件灵巧度,对机械臂的规格进行了优化设计.通过遗传算法进行迭代优化,得到了最优的机械臂规格,使得机械臂在执行轨迹时具有更高的灵巧度和全域灵巧度.实验结果表明,经过优化的机械臂能够更加稳定和精确地执行轨迹任务,提高了工作效率和质量.This article optimizes the specifications of a robotic arm based on the flexibility of trajectory conditions.Through iterative optimization using genetic algorithm,the optimal specifications of the robotic arm were obtained,resulting in higher dexterity and global dexterity when executing trajectories.The experimental results show that the optimized robotic arm can perform trajectory tasks more stably and accurately,improving work efficiency and quality.

关 键 词：轨迹条件灵巧度 机械臂 遗传算法 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]