基于自适应遗传算法的Stewart平台结构双目标优化设计

探讨了大射电望远镜精调Stewart平台的设计准则,建立了综合衡量Stewart平台运动精度和质量的双目标优化模型,以其结构强度和固有频率为约束条件,采用自适应遗传算法对该优化问题求解。通过与采用标准遗传算法所得优化结果的比较,验证了自适应遗传算法在Stewart平台结构参数设计中的有效性。

Bi-objective optimization of structural parameters of the Stewart platform based on adaptive genetic algorithm

It is of great improtance to determine the structural parameters of the Stewart platform used for a large radio telescope(LT),since the parameters will affect the performances such as the workspace,weight,accuracy and servo bandwidth of the platform directly.The optimal design criteria for the Stewart platform is discussed firstly in this paper,then the bi-objective optimization model which synthesizes the kinematic accuracy and weight is established,in which the stuctural strength and natural freqency are considered as constraints.An optimization example stemmed from the 50m scaled model of LT is carried out by employing real-coded adaptive genetic algorithm(GA).A comparison between the results obtained form the adaptive GA and that from general GA shows the effectiveness of the adaptive GA in this optimization.