| 改进遗传算法在6-RSS并联机器人机构设计中的应用 |
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| 引用本文： | 李坤全,方跃法.改进遗传算法在6-RSS并联机器人机构设计中的应用[J].北京交通大学学报(自然科学版),2008,32(4). |
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| 作者姓名： | 李坤全 方跃法 |
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| 作者单位： | 北京交通大学机械与电子控制工程学院 北京100044 |
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| 摘 要： | 以6-RSS并联机器人Jacobian矩阵的条件参数为优化设计目标函数,提出了改进的遗传智能优化设计方法.采用实值编码,对6-RSS平台进行了优化设计,得到了最优运动学的6-RSS平台结构参数,通过与拟牛顿法得出的结果比较,证实了改进遗传算法在并联机器人结构优化设计中的有效性和优越性.
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| 关 键 词： | 机器人 6-RSS并联机构 改进遗传算法 优化设计 |
Application of Intelligent Optimization in Structure Design for the 6-RSS Parallel Mechanism |
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| LI Kunquan,FANG Yuefa.Application of Intelligent Optimization in Structure Design for the 6-RSS Parallel Mechanism[J].JOURNAL OF BEIJING JIAOTONG UNIVERSITY,2008,32(4). |
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| Authors: | LI Kunquan FANG Yuefa |
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| Abstract: | This paper presents a modified genetic algorithms of the intelligent optimization design for 6-RSS parallel mechanism,and the conditional operators of Jacobian Matrix is considered as the objective function of optimized design.By using the real-coding method,the 6-RSS platform structure parameter of optimum kinematics is obtained.Results obtained by quasi Newton method and modified genetic algorithms are compared,which proves the validity and advantage of modified genetic algorithms for structural design optimization of parallel manipulator. |
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| Keywords: | robots 6-RSS parallel mechanism modified genetic algorithms optimized design |
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