中国机械工程Issue(16)：2235-2239,5.DOI:10.3969/j.issn.1004-132X.2014.16.018
一种串联机器人的全局参数优化设计方法
A Global-Parameter Optimal Design Method for Serial Manipulators
摘要
Abstract
To the problems that nonlinear physical-parameter function of serial manipulators led to local optimization,a global optimal method based on linear matrix inequality was proposed.Acording to the ideas of co-work of mechanism and control system,the dynamic characteristics of prescript ac-tion were analyzed using minimum energy law by transfering the solution of nonlinear dynamic func-tion to optimization problems of linear matrix inequality.Further,the gloal optimal physical parame-ters,such as the mass,the geometirc dimenstion,the moment of inertia,were achieved.A 4-DOF heavy-load robot was designed by this method,and the operating results verify the effectiveness of the proposed method.关键词
串联机器人/线性矩阵不等式/优化设计/物理参数Key words
serial robot/linear matrix inequality/optimal design/physical parameter分类
信息技术与安全科学引用本文复制引用
肖永飞,王学林,张福海,陈铁,付宜利..一种串联机器人的全局参数优化设计方法[J].中国机械工程,2014,(16):2235-2239,5.基金项目
国家自然科学基金资助项目(61203347) （61203347）
山东省科技发展计划项目(2012GGC01019)) （2012GGC01019）
山东省自然科学基金资助项目(ZR2012FQ022) （ZR2012FQ022）
