Applying Genetic Algorithmto Multi-objective Optimization of Size of Bionic Robot Finger
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摘要: 为使仿生机械手指在达到约束条件的情况下满足设计的尺寸范围,让仿生机械手实现稳定、精确的抓取目标物体。首先,通过力平衡、力矩平衡原理建立仿生机械手指关节的接触力模型;然后,根据抓取要求建立目标函数进而构建合理的的适应度函数;在此基础上,结合约束条件,利用遗传算法得到优化后的仿生机械手指的尺寸参数;最后通过MATLAB软件对仿生机械手指仿真。仿真结果表明优化后的仿生机械手的抓取效果比优化前的抓取效果显著Abstract: In order to make the bionic manipulator finger satisfy the designed size range under the constraints, the bionic manipulator can grasp the target object stably and accurately. Firstly, the contact force model of the bionic mechanical finger joint is established with the force and moment balance principles. Then, the objective function is established according to the grasping requirement, and a reasonable fitness function is constructed. With these functions, combined with the constraints, the size parameters of the optimized bionic mechanical finger are obtained with the genetic algorithm. Finally, the bionic mechanical finger is simulated with the MATLAB software. The simulation results show that the grasping effect of the optimized bionic manipulator is better than that of the optimized manipulator.
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Key words:
- bionic mechanical finger /
- multiple targets /
- genetic algorithm /
- size optimization
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表 1 手指设计变量的尺寸范围
尺寸变量 尺寸下限 尺寸上限 ${L_1}$ 45 mm 58 mm ${L_2}$ 25 mm 40 mm ${L_3}$ 15 mm 25 mm ${ {{R} }_1}$ 6 mm 10 mm ${ {{R} }_2}$ 6 mm 10 mm ${ {{R} }_3}$ 6 mm 10 mm ${D_1}$ 10 mm 15 mm ${D_2}$ 10 mm 15 mm ${D_3}$ 10 mm 15 mm ${\alpha _1}$ 0 π/2 ${\alpha _2}$ π/4 π/2 ${\alpha _3}$ π/4 π/2 表 2 尺寸优化结果
${L_1}$ 48.7 mm ${ {{D} }_2}$ 11.7 mm ${L_2}$ 30.5 mm ${ {{D} }_3}$ 10.1 mm ${L_3}$ 23.5 mm ${\alpha _1}$ 1.1 rad ${ {{R} }_1}$ 7.3 mm ${\alpha _2}$ 1.1 rad ${ {{R} }_2}$ 7.5 mm ${\alpha _3}$ 0.9 rad ${ {{R} }_3}$ 7.5 mm 适应度函数值 1 ${ {{D} }_1}$ 11.5 mm -
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