仿生并联眼动机构多目标优化设计

发布时间：2018-04-30 08:23

  本文选题：仿生原理 + 眼外肌　； 参考：《机器人》2017年02期

【摘要】：针对低空空域视觉监控系统需同时保证大范围搜索和对目标持续平滑跟踪的要求,依据仿生原理,设计了一种模拟人类眼外肌功能的仿生并联眼动机构构型.为克服当前并联眼动机构多采用单目标优化方法而无法保障动平台倾角及运动精度、机构灵巧度、运动传递性能等运动性能同时取优的问题,在安装空间、驱动件尺寸、铰链偏角等约束条件下,采用改进非支配排序遗传算法(NSGA-Ⅱ)优化机构的结构参数.根据优化得到的结构参数搭建了实验样机.实际测量结果表明,所设计的机构能够在动平台最大倾角、综合运动性能方面取得较为理想的效果,动平台倾角可达55.94?,精度可达0.01?,优于人类视觉系统及相关研究,满足低空空域监控需求.
[Abstract]:Aiming at the requirement of large range search and continuous smooth tracking of target in low altitude spatial visual monitoring system, a bionic parallel eye movement mechanism is designed to simulate the function of human extraocular muscle according to the bionic principle. In order to overcome the problem that the single objective optimization method is often used in the parallel eye movement mechanism, which can not guarantee the inclination and precision of the moving platform, the dexterity of the mechanism, the performance of the motion transfer and so on, the installation space and the size of the driving parts are obtained. The structural parameters of the mechanism are optimized by using an improved undominated sorting genetic algorithm (NSGA- 鈪，

本文编号：1823806