基于遗传算法的轨迹综合撑膜机械手优化设计.pdfVIP

机械工程师

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基于遗传算法的轨迹综合撑膜机械手优化设计

陈延伟，张浩，史远鹏，刘万熙，马瀚，孔帅

（长春工业大学机电工程学院，长春130000）

摘要：

为降低医务人员的劳动程度，提出了一种撑膜机械手。为满足不同种类探头的撑膜要求，以实际轨迹与给定轨迹

的位置误差最小为目标函数，建立撑膜机械手的轨迹综合优化模型，通过遗传算法求解得到一组满足不同种类探头撑膜需

求的结构参数。对撑膜机械手进行试验，验证撑膜机械手的实用性。

关键词：

隔离膜；结构设计；轨迹优化；试验验证

中图分类号:TH122文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园21）12原园018原园3

ComprehensiveTrajectoryOptimizationDesignofMembraneSupportingManipulator

BasedonGeneticAlgorithm

CHENYanwei,ZHANGHao,SHIYuanpeng,LIUWanxi,MAHan,KONGShuai

（SchoolofMechatronicEngineering,ChangchunUniversityofTechnology,Changchun130000,China）

Abstract:Inordertoreducethelaborofmedicalstaff,amembranesupportingmanipulatorisproposed.Inordertomeet

therequirementsofdifferenttypesofprobes,theobjectivefunctionistominimizethepositionerrorbetweentheactual

trajectoryandthegiventrajectory.Acomprehensivetrajectoryoptimizationmodelofthemanipulatorisestablished,anda

setofstructuralparametersthatmeettherequirementsofdifferenttypesofprobesareobtainedthroughgeneticalgorithm.

Themembranesupportingmanipulatoristestedtoverifythepracticabilityofthemembranesupportingmanipulator.

Keywords:isolationmembrane;structuraldesign;trajectoryoptimization;experimentalverification

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