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典型文献

Workspace optimization of parallel robot by using multi-objective genetic algorithm

文献摘要：

For the narrow workspace problem of the universal-prismatic-universal ( UPU ) parallel robot with fixed orientation, a kind of multi-objective genetic algorithm is studied to optimize the robot' s workspace. The concept of the effective workspace and its solution method are given. The effective workspace height ( EWH) and global condition number index ( GCI) of Jacobi matrix are selected as the optimized objective functions. Setting the robot in two different orientations, the geometric pa-rameters are optimized by the multi-objective genetic algorithm named non-dominated sorting genetic algorithm Ⅱ( NSGA-II) , and a set of structural parameters is obtained. The optimization results are verified by four indicators with the robot ' s moving platform at different orientations. The results show that, after optimization, the fixed-orientation workspace volume, the effective workspace height and the effective workspace volume increase by 32. 4％, 17. 8％ and 72. 9％ on average, respec-tively. GCI decreases by 6. 8％ on average.

文献关键词：

中图分类号：

[1] 自动化技术、计算机技术（TP） / 计算技术、计算机技术（TP3） / 计算机的应用（TP39） / 信息处理(信息加工)（TP391）

[2] 医药、卫生（R） / 药学（R9） / 药理学（R96） / 实验药理学（R965）

[3] 医药、卫生（R） / 基础医学（R3） / 病理学（R36） / 病理过程（R364）

作者姓名：

WANG Jinhong;LEI Jingtao

作者机构：

School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,P.R.China;Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai 200444,P.R.China

文献出处：

高技术通讯（英文版）

引用格式：

[1]WANG Jinhong;LEI Jingtao-.Workspace optimization of parallel robot by using multi-objective genetic algorithm)[J].高技术通讯（英文版）,2022(04):411-417

A类：

EWH

B类：

Workspace,optimization,parallel,robot,by,using,multi,objective,genetic,algorithm,For,narrow,workspace,problem,universal,prismatic,UPU,fixed,kind,studied,concept,effective,its,solution,method,are,given,height,global,condition,number,GCI,Jacobi,matrix,selected,optimized,functions,Setting,two,different,orientations,geometric,named,dominated,sorting,NSGA,II,set,structural,parameters,obtained,results,verified,four,indicators,moving,platform,show,that,after,volume,increase,average,respec,tively,decreases

AB值：

0.476288

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