华北理工大学机械工程学院
纸质出版:2025
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黄金凤, 李文, 李德胜, 等. 基于改进MOPSO算法的分拣机器人尺度优化[J]. 传感器与微系统, 2025,(4):151-155.
黄金凤, 李文, 李德胜, 等. 基于改进MOPSO算法的分拣机器人尺度优化[J]. 传感器与微系统, 2025,(4):151-155. DOI: 10.13873/J.1000-9787(2025)04-0151-05.
为提高球团分拣机器人整体动力学性能,对本体机构结构参数进行尺度优化设计。首先,将机构关节驱动力矩峰值和总能耗最小作为评价指标,相邻杆长比例为优化变量;为增强粒子的多样性和收敛性,根据迭代次数引入自适应惯性权重和位置分裂策略,对多目标粒子群优化(MOPSO)算法予以改进并求解,并通过标准测试函数与标准MOPSO算法和NSGA-Ⅱ进行对比,验证改进MOPSO算法的优越性;最后,应用于球团分拣机器人尺度优化设计。结果表明:改进MOPSO算法得到的解优于标准MOPSO算法。
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