基于MATLAB的负重外骨骼多目标优化
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摘要
简述一种液压驱动型可穿戴式负重外骨骼的整体结构设计;建立多目标优化模型,以膝关节液压缸受力最小和质量最小为目标,运用多目标优化方法中的线性加权和法对其进行优化处理,化多目标优化问题为单目标优化问题;分别利用MATLAB中的fmincon函数和遗传算法对该模型进行优化,使得液压缸的受力值和质量都大大降低,为负重外骨骼驱动系统节约了能耗,延长了使用寿命。
The overall structure design of a hydraulic driving type weight-bearing exoskeleton was briefly described. Multi-objective optimization model was set up to minimize the force and the quality of the knee joint hydraulic cylinder. The linear weighted sum method in multi-objective optimization method was used to carried on the optimization,and the multi-objective optimization problem was transformed into a single-objective optimization problem. The fmincon function and genetic algorithm of MATLAB were respectively used to optimize the model to make the stress value and the quality of the hydraulic cylinder greatly reduce. Therefore,it saves energy consumption and extends the life of the weight-bearing exoskeleton drive system.
The overall structure design of a hydraulic driving type weight-bearing exoskeleton was briefly described. Multi-objective optimization model was set up to minimize the force and the quality of the knee joint hydraulic cylinder. The linear weighted sum method in multi-objective optimization method was used to carried on the optimization,and the multi-objective optimization problem was transformed into a single-objective optimization problem. The fmincon function and genetic algorithm of MATLAB were respectively used to optimize the model to make the stress value and the quality of the hydraulic cylinder greatly reduce. Therefore,it saves energy consumption and extends the life of the weight-bearing exoskeleton drive system.
引文
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[4]林宏衡,夏虹,王建华,等.人体下肢外骨骼机器人的研究进展[J].中国骨科临床与基础研究杂志,2011,3(3):220-223.
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[8]杨世文,许小健.MATLAB优化工具箱在结构优化设计中的应用[J].科学技术与工程,2008,8(5):1347-1349.YANG S W,XU X J.Application of MATLAB Optimization Toolbox in Structural Optimization[J].Science Technology and Engineering,2008,8(5):1347-1349.
[9]刘浩然,赵翠香,李轩,等.一种基于改进遗传算法的神经网络优化算法研究[J].仪器仪表学报,2016,37(7):1573-1580.LIU H R,ZHAO C X,LI X,et al.Study on a Neural Network Optimization Algorithm Based on Improved Genetic Algorithm[J].Chinese Journal of Scientific Instrument,2016,37(7):1573-1580.