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基于差分進(jìn)化的球面并聯(lián)機(jī)構(gòu)仿生眼參數(shù)優(yōu)化
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國(guó)家自然科學(xué)基金資助項(xiàng)目（50975168、60975068）;高等學(xué)校博士學(xué)科點(diǎn)專項(xiàng)科研基金資助項(xiàng)目（20093108110007）;上海市教育委員會(huì)和上海市教育發(fā)展基金會(huì)“曙光計(jì)劃”項(xiàng)目（09SG37）


Parameter Optimization for Spherical Parallel Mechanism Bionic Eye Based on Differential Evolution
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    摘要:

    確定了仿生眼的目標(biāo)工作空間，并以雅可比矩陣條件數(shù)最大值定義了最差靈巧度。利用差分進(jìn)化的全局尋優(yōu)能力對(duì)最差靈巧度的最大值進(jìn)行優(yōu)化，采用動(dòng)態(tài)縮放因子解決優(yōu)化過程中的早熟問題，增強(qiáng)了全局搜索能力。在滿足仿生眼特殊結(jié)構(gòu)要求并使目標(biāo)工作空間內(nèi)任意姿態(tài)都具有較好靈巧度的情況下，確定了合理的結(jié)構(gòu)參數(shù)。最后實(shí)驗(yàn)表明參數(shù)優(yōu)化后的仿生眼實(shí)物很好地滿足了設(shè)計(jì)要求。

    Abstract:

    The target working space of bionic eye was firstly determined. The worst dexterity for bionic eye with the maximum condition number of Jacobian matrix was defined. Then, a differential evolution (DE) algorithm was used to optimize the maximum of the worst dexterity index. Dynamic scaling factor was determined according to the overcome premature evolution and enhance the probability of finding global optimum. Reasonable structural parameters were chosen in the case of satisfying the special requirements of bionic eye structure and making arbitrary posture dexterity of target working space better. Finally, the experimental results show that bionic eye with the optimized parameters are good coinciding with the design requirements.

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李樹平,謝少榮,程軍,李恒宇,李超,羅均.基于差分進(jìn)化的球面并聯(lián)機(jī)構(gòu)仿生眼參數(shù)優(yōu)化[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2011,42(11):189-194. Li Shuping, Xie Shaorong, Cheng Jun, Li Hengyu, Li Chao, Luo Jun. Parameter Optimization for Spherical Parallel Mechanism Bionic Eye Based on Differential Evolution[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(11):189-194.

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