搬運機器人的多目標耦合設計優(yōu)化.pdf

1、東南大學碩士學位論文搬運機器人的多目標耦合設計優(yōu)化姓名：陳琦申請學位級別：碩士專業(yè)：控制理論與控制工程指導教師：汪崢20090301CoupledMultiobjectiveDesignOptimizationAbstractBasedontheStIJdyofthe3DOFtransportmanipulatorwefindmatmepertormancemeasurememsoftheworkspace，stressandcontr

2、olconflictwitheachotherSoweinvestigatethemultiobjectivedesignoptirnizationproblemofatransportmanipulatorwhoseobjectiveistominimizefourperformancemeasurementsconcurrentlyincludingthedifferencesbetweenthemaximumandmininlun

3、lradiusoftheworkspace，thedegreeofclosenessbetweentl圮maximumstressofthemanipulatorandtheallowablestressofmaterial，theaverageenergyandtimeconsumptionoftransportationtasksThedesignvariablesarethemanipulator，Slengthparameter

4、s，thicknessparametersandtherobot’SkinematicalabilityparametersThefeatureofthismulti—objectiveoptimizationproblemisthateveryperfo珊鋤cemeasurementisinfluencedbymorethanonegroupofdesignparameterandthedesignforeverygroupofpar

5、ametermustaccountforitsinfluenceonalltherIelatedperti)rmancemeasurementsSoweproposethemethodoffindingthedesignparametersSOthattheexpectedvaluesofalltheperformancemeasll]rementscanbemetFirstlywebuildthemodelofthemultiobje

6、ctiveoptimizationbythreestepsThefirststepisputtingforwardalltheacceptablevalueofthef10urperf0mancemeasurementsandchangingthegoaloftheoptimizationfromminimizingfourperformancemeasurementstolettingthemnotgreaterthantherela

7、tedacceptablevalueThesecondstepischangingaconstrainedoptimizationproblemt0鋤unconstrainedonebymeansofpenaltyfunctionThethirdstepisputtingforwardthegeneralizedperformancemeasurememsbychangingtheformofthefo玎nerpertormancesT

8、heywillconvergetozerowhentheformerperformanceisnotgreaterthantherelatedacceptablevalueandtheparameters’valuesatisfiesitscons仃aintsatthesametimeSecondlyweproposethesolutiontotheformermultiobjectiveoptimizationalsobythrees