首页|期刊导航|高技术通讯（英文版）|Space gripper configuration and its dimension synthesis based on genetic algorithm
高技术通讯（英文版）2008，Vol.14Issue(3)：300-303,4.
Space gripper configuration and its dimension synthesis based on genetic algorithm
Space gripper configuration and its dimension synthesis based on genetic algorithm
摘要
Abstract
The special fingers of the gripper on the space robot have been developed based on genetic algorithm for the space application.Therefore, the symmetrical wedgelike finger composed of the 4-link mechanism and the relevant track were designed.To decrease the weight and optimize the kinematics and grip force,the compositive fitness function for dynamics and kinematics was created.The calculation efficiency could be improved by novel methods which overcame the problem of too many constraints in the solution space,such as introducing the specialist' s experience and punishment function and simplifying the variables.The solutions show that the optimized finger could perform well and the methods were effectual.关键词
space finger/genetic algorithm/dimension synthesisKey words
space finger/genetic algorithm/dimension synthesis分类
信息技术与安全科学引用本文复制引用
Zhu Yingyuan ,Shi Shicai,Xie Zongwu,Liu Hong..Space gripper configuration and its dimension synthesis based on genetic algorithm[J].高技术通讯（英文版）,2008,14(3):300-303,4.基金项目
Supported by the High Technology Research and Development Program of China (No.2004AA742201). （No.2004AA742201）
