In order to improve the stiffness and reduce the mass of the manipulator with hybrid open and closed-loop kinematic chains, an optimization method based on nonlinear programming genetic algorithm (NPGA) is proposed. T...
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ISBN:
(纸本)9781728190358
In order to improve the stiffness and reduce the mass of the manipulator with hybrid open and closed-loop kinematic chains, an optimization method based on nonlinear programming genetic algorithm (NPGA) is proposed. The stiffness mass ratio is selected as the objective function, the scale parameters are selected as design variables, the workspace, stiffness matching coefficients and the end stiffness are selected as constraint conditions, and the optimal structural parameters of the manipulator are obtained by using NPGA. The simulation results using finite element analysis (FEA) show that the stiffness of the manipulator is increased and the weight is reduced effectively after the optimization.
In order to reduce the cost of micro-grid operation investment, this paper establishes the optimal allocation model of micro-grid with economic cost as the objective function, and adds the environmental protection ind...
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ISBN:
(纸本)9781450365703
In order to reduce the cost of micro-grid operation investment, this paper establishes the optimal allocation model of micro-grid with economic cost as the objective function, and adds the environmental protection index to the cost calculation. The nonlinear programming genetic algorithm is used to simulate and calculate, and the convergence speed of the nonlinear programming genetic algorithm (NPGA) is analyzed and compared, and good results are obtained.
Robot prosthesis has 6 degrees of freedom, including outward swinging and forward and backward swinging, which are droved by servo motors. In order to reduce the servo motors' driving torque, a gas spring was adde...
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ISBN:
(纸本)9783037855010
Robot prosthesis has 6 degrees of freedom, including outward swinging and forward and backward swinging, which are droved by servo motors. In order to reduce the servo motors' driving torque, a gas spring was added on shoulder to balance the gravity torque. In this paper, the difference between gravity torque and balanced torque was created and taken as optimized object firstly, and then a mathematical model was created and Matlab program on the base of nonlinear programming genetic algorithm were made for obtaining the optimum, lastly the simulation model and optimizing process diagrams were outputted.
A method is introduced for calibrating the kinematic parameters of articulated arm coordinate measurement machines (AACMM) to improve its accuracy. The kinematic model of AACMM is firstly built according to Denavit-Ha...
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ISBN:
(纸本)9780819497925
A method is introduced for calibrating the kinematic parameters of articulated arm coordinate measurement machines (AACMM) to improve its accuracy. The kinematic model of AACMM is firstly built according to Denavit-Hartenberg method. Then specific kinematic parameters and the errors of which are analyzed. A nonlinear programming genetic algorithm is adopted to seek the global optimal solution of the kinematic parameters. Computation result indicates that the method can be used to implement the calibration precisely and quickly.
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