Study and application of orthogonal-genetic algorithm test method

Abstract

To solve the problem of optimization design of parallel robot manipulators,an optimization method based on Orthogonal Experiment Method and Genetic Algorithm is proposed.On the basis of discussing the basic principles of the above two methods,compares in the aspects of the ways to hunt optimal solution and corresponding relationships among the parameters are conducted and then the method to construct the initial population of generic algorithm with orthogonal table is introduced.A method of one generation orthogonal-genetic algorithm test method that is applicable to greater design variables and unmanageable fit function is put forward.This method can be applied in structural optimization design of a new type of four DOF parallel robot manipulators and the optimal scheme of the mechanism's geometric dimensions can be obtained by taking the global condition index of mechanism as objective functions.Illustrations have demonstrated this method effective.