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Alternative TitleTopology Configuration Optimization for a Modular Robot
高文斌; 王洪光; 姜勇; 潘新安
Source Publication中国机械工程
Indexed ByCSCD
Contribution Rank1
Keyword模块化机器人 可重构 构型优化 遗传算法
Other AbstractA study of task-oriented topology configuration optimization for a joint type modular robot 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 w盯e 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 objective. a topology architecture optimization design method was given based on the combination of traversal method and genetic algorithm. The effectiveness of the method was verified through an architecture optimization experiment.
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Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
高文斌,王洪光,姜勇,等. 一种模块化机器人的拓扑构型优化[J]. 中国机械工程,2014,25(12):1574-1580.
APA 高文斌,王洪光,姜勇,&潘新安.(2014).一种模块化机器人的拓扑构型优化.中国机械工程,25(12),1574-1580.
MLA 高文斌,et al."一种模块化机器人的拓扑构型优化".中国机械工程 25.12(2014):1574-1580.
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