| 并联机构智能优化设计方法研究 |
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| 引用本文： | 安改娣,李强,梁丽君.并联机构智能优化设计方法研究[J].内蒙古工业大学学报,2005,24(2):148-153. |
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| 作者姓名： | 安改娣 李强 梁丽君 |
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| 作者单位： | [1]内蒙古化工职业学院,呼和浩特010010 [2]内蒙古工业大学机械工程学院,呼和浩特010010 [3]青岛三联金属结构有限责任公司,青岛胶州266300 |
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| 摘 要： | 本文分析介绍了近年来兴起的智能优化算法——遗传算法用于并联机构优化设计的基本思想和应用方法，以雅可比矩阵的条件数为优化设计目标，建立了Stewart并联机构结构参数优化设计的数学模型，分别采用两种编码方式优化设计了平台的结构参数，并用MATLAB软件编程，得到了较为合理的结果。
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| 关 键 词： | 遗传算法 并联机构 优化设计 雅可比矩阵 |
| 文章编号： | 1001-5167(2005)02-0148-06 |
| 收稿时间： | 2004-03-07 |
| 修稿时间： | 2004年3月7日 |
THE INTELLIGENT OPTIMIZATION ALGORITHM FOR PARALLEL ROBOT DESIGN |
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| AN Gai-di ,LI Qiang,LIANG Li-jun.THE INTELLIGENT OPTIMIZATION ALGORITHM FOR PARALLEL ROBOT DESIGN[J].Journal of Inner Mongolia Polytechnic University(Social Sciences Edition),2005,24(2):148-153. |
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| Authors: | AN Gai-di LI Qiang LIANG Li-jun |
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| Institution: | 1. Chemical Engineering Vocational College of Inner Mongolia ,Huhhot 010010;PRC; 2. School of Mechanical Engineering,Inner Mongolia University of Technology,Huhhot 010062,PRC |
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| Abstract: | This paper presents a discussion on the basic idea and method of the application of an intelligent optimization algorithm, that is, the genetic algorithm, to the optimization design of the mechanical system of parallel robot,to be more exact,the structure of the Stewart parallel platform. First,a new method for computing Jacobian is introduced. Then,a mathematical model of optimization design of structural parameters of the parallel platform is constructed. Using MATLAB, a GA program is developed to solve the optimal values of these structural parameters. It is shown that the result is satisfactory and the method is effective. |
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| Keywords: | genetic algorithms parallel robot Jacobian matrix optimal design |
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