Abstract：A structural optimization model is developed,in which the kinematic dexterity of a 6 DOF Stewart paralllel manipulator is considered as the objective function, and the design space,the ratio of the maximum to minimum length of each leg,the limit angles of universal and spherical joints are taken as constraints.The Metropolis genetic algorithm,in which the Metropolis criterion of simulated annealing algorithm are incorporated in the selection operations of real-coded genetic algorithm,is applied to the structural design optimization of parallel manipulator.Results obtained by canonical and Metropolis genetic algorithms are compared,proving the validity and advantage of Metropolis genetic algorithm for structural design optimization of parallel manipulator.
[1] 陈学生,陈在礼,孔民秀.并联机器人研究的进展与现状[J].机器人,2002,24(5):464-410. [2] 黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997. [3] Dasgupta B,Mruthyunjaya T S.The Stewart platform manipulator:a review[J].Mechanism and Machine Theory,2000,35 (1):15-40. [4] Su Y X,Duan B Y.The application of the Stewart platform in large spherical radio telescopes[J].Journal of Robotic Systems,2000,17(7):375-383. [5] Su Y X,Duan B Y,Nan R D,et al.Mechatronics design of stiffness enhancement of the feed supporting system for the square-kilometer array[J].IEEE/ASME Transactions on Mechatronics,2003,8(4):425-430. [6] McInroy J E.Modeling and design of flexure jointed Stewart platforms for control purpose[J].IEEE/ASME Transactions on Mechatronics,2002,7 (1):95-99. [7] Wu Y N,Gosselin C.Design of reactionless 3-DOF and 6-DOF parallel manipulators using parallelepiped mechanisms[J].IEEE Transactions on Robotics,2005,21 (5):821-833. [8] Yong Y,McInroy J E,Jafari F.Generating classes of locally orthogonal Gough-Stewart platforms[J].IEEE Transactions on Robotics,2005,21(5):812-820. [9] Kim S G,Ryu J.New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators[J].IEEE Transactions on Robotics and Automation,2003,19(4):731-736. [10] Jin Z,Gao F.Optimal design of a 6-axis force transducer based on Stewart platform related to sensitivity isotropy[J].Chinese Journal of Mechanical Engineering,2003,16(2):146-148. [11] 黄田,汪劲松.Gough-Stewart平台运动学设计理论与方法[J].中国科学(E辑),1999,29(4):310-320. [12] Jafari F,McInroy J.Orthogonal Gough-Stewart platform for micromanipulation[J].IEEE Transactions on Robotics and Automation,2003,19(4):595-603. [13] Salisbury J K,Craig J J.Articulated hands:force control and kinematics issues[J].The International Journal of Robotics Research,1982,2(1):4-17. [14] 西安电子科技大学项目组.大射电望远镜馈源支撑与指向跟踪系统仿真与实验研究总结报告[R].西安:西安电子科技大学,2002. [15] Ryu Y S,Park K B,Kim J T,et al.Application of Metropolis genetic algorithm for the structural design optimization[A].Proceedings of the Third China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems[C].Kanazawa,Japan:2004.71-76. [16] 玄光男,程润伟.于歆杰,等.遗传算法与工程优化[M].北京:清华大学出版社,2004. [17] 彭昭旺,杨洪柏,钟廷修.实值编码遗传算法的行星齿轮传动优化[J].上海交通大学学报,1999,33(7):533-535.
