基于遗传算法的柔性机械臂结构优化设计

Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems Pub Date : 2003-12-19 DOI:10.1109/ITSC.2003.1252758

Ling-li Cui, Zhi-quan Xiao

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引用次数: 9

摘要

本文研究了总重约束下轻量化柔性机械臂的优化结构设计问题。基于有限差分法建立柔性机械臂的优化设计数学模型，采用改进的实数遗传算法求解柔性机械臂的优化设计问题。数值仿真结果表明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Optimum structure design of flexible manipulators based on GA

This paper addresses the issues related to the design of optimum structure for lightweight, flexible manipulators under the total weight constraint. The optimum design problem is formulated by establishing a mathematical model of flexible manipulator based on the finite difference method, the optimal solution is obtained by using an improved real-code genetic algorithms (GA). Numeric simulation has been conducted and the results have demonstrated the effectiveness of the proposed method.

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Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems

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