平面完全约束绳牵引并联机器人的多目标优化

针对平面完全约束的绳牵引并联机器人的多目标优化问题，给出了一种理想点法与遗传算法相结合的方法．首先以绳牵引并联机器人工作空间面积、全面刚度指标、全局灵巧度系数为优化目标，基于遗传算法进行全局优化，得到各个目标的理想点．然后采用理想点法建立多目标优化模型，并采用遗传算法对该模型进行求解．仿真实验表明，优化结果较为均衡，各模型有效解都接近相应单目标的理想点．所得结论可以为同类绳牵引并联机器人的设计提供参考．

The multi-object optimization of planar completely restrained wire-driven parallel manipulator

Aiming at multi-object optimization of a planar 3-DOF （degree-of-freedom） completely restrained wire-driven parallel manipulator, the ideal point method combined with genetic algorithm was given. First, global optimization of workspace area, globaI stiffness index and global dexterity index was preformed using genetio algorithm, the ideal points of respective objects were obtained. Then, the multi-object optimization model was constructed by ideal point method, and a genetic algorithm was utilized to obtain the optimal solution. Experimental simulation shows optimization results equalize, each Pareto solution approximates to the ideal points of corresponding single object. The conclusion provides a useful reference for the optimal design of similar manipulators.