机器人2017，Vol.39Issue(2)：176-181,6.DOI:10.13973/j.cnki.robot.2017.0176
仿生并联眼动机构多目标优化设计
Multi-objective Optimization Design of a Bionic Parallel Oculogyric Mechanism
摘要
Abstract
To ensure requirements of wide search range and smooth and continuous target-tracking in the low-altitude airspace visual monitoring system, a bionic parallel oculogyric mechanism is designed to simulate the function of human extraocular muscles according to the bionic principle. Most of the existing parallel oculogyric mechanisms adopt the single-objective optimization, which can't simultaneously optimize the dip angle of the moving platform and the motion perfor-mances including the motion precision, the mechanism dexterity and the motion transmission performance. In order to overcome the problem, non-dominated sorting-based genetic algorithm-II (NSGA-II) is used to optimize the structural pa-rameters of the mechanism under the constraints of the installation, driver size and hinge angle. An experimental prototype is developed according to the optimized structural parameters. The actual measurement results show that the mechanism designed can achieve satisfactory results in terms of the maximum dip angle and the integrated motion performance of the moving platform, and the dip angle of 55.94?and the precision of 0.01?are realized by the moving platform, which are better than the human vision system as well as related research, and also meet the needs of low-altitude airspace monitoring.关键词
仿生原理/眼外肌/并联眼动机构/多目标优化/改进非支配排序遗传算法Key words
bionic principle/extraocular muscle/parallel oculogyric mechanism/multi-objective optimization/NSGA-II (non-dominated sorting-based genetic algorithm-II)分类
信息技术与安全科学引用本文复制引用
程元皓,王孙安,于德弘..仿生并联眼动机构多目标优化设计[J].机器人,2017,39(2):176-181,6.基金项目
国家自然科学基金(51375368). （51375368）
