Mechanical arm robust optimization design method based on interval and bounded probability mixed uncertainty

Abstract

The invention discloses a mechanical arm robust optimization design method based on interval and bounded probability hybrid uncertainty. The method comprises the following steps: considering two kindsof uncertainty of interval and bounded probability distribution influencing the mechanical arm performance, describing the bounded probability distribution as a random variable obeying generalized beta distribution, and establishing a mechanical arm robust optimization design model; direct solution is carried out based on a genetic algorithm; the robustness of a population individual constraint performance function is analyzed by utilizing the uncertainty boundness, and the feasibility of individuals is judged; for a feasible individual, calculating a mean value and a standard deviation of anobjective function of the feasible individual by adopting a Monte Carlo method based on multi-layer encryption Latin hypercube sampling; and then sorting the individuals of the current population according to the total feasible robustness index and the negative ideal solution approaching distance of the constraint performance function to obtain robust and optimal mechanical arm parameters. The mechanical arm robustness optimization model established by the method truly reflects uncertainty distribution, the optimization process is intelligent and efficient, and the method has good engineeringapplicability.

Description

technical field [0001] The invention belongs to the field of equipment structure optimization design, and relates to a robust optimization design method of a mechanical arm based on mixed uncertainties of interval and bounded probability. Background technique [0002] The size of the manipulator and the position of the hinge point directly affect the working performance indicators such as the working torque and work efficiency of the manipulator. Therefore, after determining the length of the main structural members of the manipulator, it is necessary to determine the length and The position of each hinge point is optimized to ensure its working performance. [0003] There are usually a lot of uncertain factors in the design, manufacture and operation of the manipulator. These uncertain factors will make the working performance of the manipulator deviate from the design expectation and fail to meet expectations. Uncertainty factors affecting the working performance of the m...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of robust optimization design of the manipulator under the coexistence of uncertainty factors in the probability interval, the present invention provides a robust optimization design method for the manipulator based on mixed uncertainties of interval and bounded probability

Images