摘要
针对可调空间机构RRSS的多任务轨迹综合问题,提出一种采用遗传算法实现机构优化综合的方法。以机构的再现轨迹和给定轨迹的误差最小为目标函数,建立该机构的多任务优化综合数学模型,并采用遗传算法进行优化,得到了全局最优解。进行变异操作时,采用根据个体适应度自适应来调节变异率和变异量,有效提高了进化速度和求解精度。最后给出了数字实例加以说明。
The method of track optimal synthesis for the adjustable spatial RRSS mechanism for multi - tasks based on Genetic Algorithm is proposed. The mechanism optimization model is established by taking the minimum of square of the error between the actual trajectories and beforehand ascertainable trajectories as the goal function. And the global optimization solution is gained by the Genetic Algorithms. In order to improve the evolutionary speed and accuracy of solutions effectively, a method that can adaptively adjust mutation rate and value according to fitness of individual is used, at the last, a numeric example is given to illustrate the method.
出处
《机械传动》
CSCD
北大核心
2012年第11期15-18,共4页
Journal of Mechanical Transmission
基金
四川省科技支撑计划项目"可调球面机构理论
性能及设计方法研究"(2011GZ0224)
关键词
可调空间机构
RRSS
遗传算法
轨迹优化综合
Adjustable spatial mechanism RRSS Genetic algorithms Track optimal synthesis
