搬運(yùn)機(jī)器人的多目標(biāo)耦合設(shè)計(jì)優(yōu)化.pdf

1、東南大學(xué)碩士學(xué)位論文搬運(yùn)機(jī)器人的多目標(biāo)耦合設(shè)計(jì)優(yōu)化姓名：陳琦申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：控制理論與控制工程指導(dǎo)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