CAJ | 학술논문

采用遗传算法对一种关节型模块化机器人系统面向任务的拓扑构型优化设计问题进行了研究。对任意机械臂拓扑构型组成模块的类型、参数、数量及模块间连接顺序和装配方位等信息进行了二进制编码。按照性质不同将设计要求划分为刚性要求、柔性要求及刚性＋柔性要求，对不满足刚性要求的拓扑结构通过过滤器处理以提高效率，对其他拓扑结构进行构型评价并以评价结果的加权和的形式建立构型评价函数。以自由度最小为主要优化目标，结合遍历法和遗传算法给出一种拓扑构型优化设计方法。构型优化实验验证了该方法的有效性。
채용유전산법대일충관절형모괴화궤기인계통면향임무적탁복구형우화설계문제진행료연구。대임의궤계비탁복구형조성모괴적류형、삼수、수량급모괴간련접순서화장배방위등신식진행료이진제편마。안조성질불동장설계요구화분위강성요구、유성요구급강성＋유성요구，대불만족강성요구적탁복결구통과과려기처리이제고효솔，대기타탁복결구진행구형평개병이평개결과적가권화적형식건립구형평개함수。이자유도최소위주요우화목표，결합편역법화유전산법급출일충탁복구형우화설계방법。구형우화실험험증료해방법적유효성。
A study of task-oriented topology configuration optimization for a joint type modular ro-bot system was carried out based on genetic algorithm .The topology configuration information such as the module types ,parameters ,quantity ,assembling sequence and orientations of any given manipulator were represented by binary coding .Design requirements were divided into hard ones ,soft ones and hard + soft ones according to their properties .The topology structure which did not meet the “hard”requirements would be processed by filters to improve the computational efficiency .Meanwhile ,the others were evaluated and the configuration evaluation function was constructed based on the weighted sum of the evaluation results .Taking the minimized degree-of-freedom as the main optimization objec-tive ,a topology architecture optimization design method was given based on the combination of trav-ersal method and genetic algorithm .The effectiveness of the method was verified through an architec-ture optimization experiment .