腿轮式机器人的运动原理及参数优化  

Motion principle and parameter optimization of leg-wheeled robot

作　　者：李金良[1] 吕恬生 孙友霞[2] 

机构地区：[1]上海交通大学机械工程学院,上海200030 [2]山东科技大学,山东泰安271019

出　　处：《机械设计》2003年第8期27-29,共3页Journal of Machine Design

摘　　要：分析了一种腿轮式机器人的运动原理 ,基于腿轮式机器人的运动参数对机器人的运行性能有较大影响 ,提出采用遗传算法进行参数优化设计。给出了遗传算法的具体寻优步骤 ,并得到了最优解 。The motion principle of a kind of leg-wheeled robot was analyzed. Since there is considerable effect of operative performance upon robot affected by motion parameters of leg-wheeled robot, the adoption of genetic algorithm was put forward to carrying out the parametric optimization design. The concrete optimization steps of genetic algorithm was presented in this paper and the optimum solution was obtained, thus provided theoretical basis for mechanism design and motion control of robot.

关 键 词：腿轮式机器人 运动原理 优化设计 运动参数 遗传算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]