| 单铰柔韧性机器人手臂的体积优化 |
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| 引用本文： | 吴莹,俞焕然,邢静忠.单铰柔韧性机器人手臂的体积优化[J].兰州理工大学学报,1998(3). |
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| 作者姓名： | 吴莹 俞焕然 邢静忠 |
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| 作者单位： | 甘肃工业大学基础课部(吴莹，邢静忠)，兰州大学(俞焕然) |
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| 摘 要： | 讨论了单铰柔韧性机器人手臂在第一振频给定的条件下其体积的优化问题，主要采用阶梯折算法将问题归结为非线性规划问题，利用简约梯度法进行优化，并给出了一些具体实例．
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| 关 键 词： | 机器人 阶梯折算法 梯度法 优化步长 初参数法 |
Optimal Design for the volume one link flexible manipulator |
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| Wu Ying.Optimal Design for the volume one link flexible manipulator[J].Journal of Lanzhou University of Technology,1998(3). |
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| Authors: | Wu Ying |
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| Abstract: | The problem of optimal design for the volume of one link flexible manipulator operated with given fundamental vibration frequency is investigated. By using the method of stepped reduction, the problem is simplified into non linear programming one and is solved by using the gradient method in some illustrations. |
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| Keywords: | robot stepped reduction gradient method optimal step initial parameter method |
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