基于NSGA-II算法的平面并联机构动态性能多目标优化

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孔民秀, 陈琳, 杜志江, 孙立宁. 基于NSGA-II算法的平面并联机构动态性能多目标优化[J]. 机器人, 2010, 32(2): 271-277.. KONG Minxiu, CHEN Lin, DU Zhijiang, SUN Lining. Multi-objective Optimization on Dynamic Performance for a Planar Parallel Mechanism with NSGA-II Algorithm. ROBOT, 2010, 32(2): 271-277..

摘要针对高速高加速度的平面并联机构，采用面向控制系统的机构设计方法，对机械结构进行优化设计．分别在运动学、动力学层面上提出多个性能指标，以其作为目标函数和约束条件建立了标准的多目标优化模型．基于NSGA-II算法求解多目标优化问题，进行尺度综合．最终结果表明，优化后的机构能较大程度上消除系统耦合，提升动态性能，为高速控制系统设计提供良好的机械硬件平台．

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关键词 ：机构优化, 多目标优化, NSGA-II算法, 尺度综合

Abstract：For a high-speed and high-acceleration planar parallel mechanism, a design for control (DFC) approach is proposed for the optimization of the mechanism structure. Several evaluation indexes of kinematics and dynamics performance are established for the object functions and constraints, and then a standard multi-objective optimization problem can be formed. The dimension synthesis is carried out by solving the multi-objective optimization with NSGA-II (non-dominated sorting genetic algorithm-II) algorithm. The final result shows that the mechanism with the optimized parameters can eliminate the systematic coupling and enhance the dynamic performance greatly, which provides a solid mechanism hardware platform for designing the high-speed control system.

Key words： mechanism optimization multi-objective optimization NSGA-II algorithm dimension synthesis

收稿日期: 2009-03-19 录用日期: 2009-12-01

TP242.2

基金资助:长江学者创新团队计划资助项目（IRT0423）；国家863计划资助项目（2006AA040103）

通讯作者: 孔民秀 E-mail: exk@hit.edu.cn,chenlinhit@sina.com

作者简介: 孔民秀（1972- ），男，工学博士，讲师．研究领域：机器人动力学及其控制技术．
陈琳（1985– ），女，硕士生．研究领域：机器人动力学及机构优化．
杜志江（1972– ），男，工学博士，教授，博士生导师．研究领域：机器人机构与控制，医疗机器人相关技术．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I2/271

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