基于差分进化的球面并联机构仿生眼参数优化

摘要

确定了仿生眼的目标工作空间,并以雅可比矩阵条件数最大值定义了最差灵巧度.利用差分进化的全局寻优能力对最差灵巧度的最大值进行优化,采用动态缩放因子解决优化过程中的早熟问题,增强了全局搜索能力.在满足仿生眼特殊结构要求并使目标工作空间内任意姿态都具有较好灵巧度的情况下,确定了合理的结构参数.最后实验表明参数优化后的仿生眼实物很好地满足了设计要求.%The target working space of bionic eye was firstly determined. The worst dexterity for bionic eye with the maximum condition number of Jacobian matrix was defined. Then, a differential evolution ( DE) algorithm was used to optimize the maximum of the worst dexterity index. Dynamic scaling factor was determined according to the overcome premature evolution and enhance the probability of finding global optimum. Reasonable structural parameters were chosen in the case of satisfying the special requirements of bionic eye structure and making arbitrary posture dexterity of target working space better. Finally, the experimental results show that bionic eye with the optimized parameters are good coinciding with the design requirements.