Drive optimization of parallel robot under redundant tasks based on genetic algorithm

被引：0

作者：

Liu, Wei ^{[1
]}

Chang, Siqin ^{[1
]}

机构：

[1] College of Mechanical Engineering, Nanjing University of Science and Technology

来源：

Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery | 2012年 / 43卷 / 04期

关键词：

Dynamics; Genetic algorithm; Parallel robot; Redundant optimization;

D O I：

10.6041/j.issn.1000-1298.2012.04.042

中图分类号：

学科分类号：

摘要：

A six pyramid parallel robot was taken as the object, and the dynamic model of the robot was established by using the Lagrange method. The relationship between the drive current and tasks trajectory was analyzed combined with the design principle of linear motor. With the goal of minimum instantaneous kinetic energy, motor drive was optimized based on genetic algorithm. Energy consumption optimized was reduced by 47.6% compared with non redundant tasks. The experiment of redundant track tasks was carried out. The experimental results showed that the current change was in good agreement with the simulation results, and the feasibility and rationality of this optimization method was verified.

引用

页码：221 / 224+220

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