Study on Application of Hybrid Optimization Algorithm in Parameters Optimization of Manipulator

Authors

Chikun Gong, 1.School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China; ;
Yinghui Sun, 1.School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China; ;
Lipeng Yuan, 2.Changzhou Dinosaur Park Co., Ltd, Changzhou 213022, China; ;3.School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China;

Abstract

Abstract: When the industrial robot carries on the precise processing, it is possible to finish in the work space of the whole attitude. In order to obtain the compact structure and meet the processing point, a new hybrid optimization algorithm is proposed. The structure model of the robot is established, and the global optimal particle and inertia weight of the particle swarm is introduced. The two parameters are classified by the intermediate value. The dynamic changes of the search medium and the optimization ability are enhanced. After verification, the algorithm has better search ability and higher accuracy. Finally, parameter identification of the structural optimization model, the results show that the obtained structure is compact and the quality of the rod length parameter is better while keeping the same size of the original quasi total attitude, Thereby, the proposed algorithm is effective and practical.

Recommended Citation

Gong, Chikun; Sun, Yinghui; and Yuan, Lipeng (2019) "Study on Application of Hybrid Optimization Algorithm in Parameters Optimization of Manipulator," Journal of System Simulation: Vol. 30: Iss. 1, Article 13.
DOI: 10.16182/j.issn1004731x.joss.201801013
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss1/13

First Page

105

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201801013

Last Page

113

CLC

TP24

Recommended Citation

Gong Chikun, Sun Yinghui, Yuan Lipeng. Study on Application of Hybrid Optimization Algorithm in Parameters Optimization of Manipulator[J]. Journal of System Simulation, 2018, 30(1): 105-113.

DOI

10.16182/j.issn1004731x.joss.201801013