本文選題：仿生原理 + 眼外肌�。� 參考：《機器人》2017年02期

【摘要】：針對低空空域視覺監(jiān)控系統需同時保證大范圍搜索和對目標持續(xù)平滑跟蹤的要求,依據仿生原理,設計了一種模擬人類眼外肌功能的仿生并聯眼動機構構型.為克服當前并聯眼動機構多采用單目標優(yōu)化方法而無法保障動平臺傾角及運動精度、機構靈巧度、運動傳遞性能等運動性能同時取優(yōu)的問題,在安裝空間、驅動件尺寸、鉸鏈偏角等約束條件下,采用改進非支配排序遺傳算法(NSGA-Ⅱ)優(yōu)化機構的結構參數.根據優(yōu)化得到的結構參數搭建了實驗樣機.實際測量結果表明,所設計的機構能夠在動平臺最大傾角、綜合運動性能方面取得較為理想的效果,動平臺傾角可達55.94?,精度可達0.01?,優(yōu)于人類視覺系統及相關研究,滿足低空空域監(jiān)控需求.
[Abstract]:Aiming at the requirement of large range search and continuous smooth tracking of target in low altitude spatial visual monitoring system, a bionic parallel eye movement mechanism is designed to simulate the function of human extraocular muscle according to the bionic principle. In order to overcome the problem that the single objective optimization method is often used in the parallel eye movement mechanism, which can not guarantee the inclination and precision of the moving platform, the dexterity of the mechanism, the performance of the motion transfer and so on, the installation space and the size of the driving parts are obtained. The structural parameters of the mechanism are optimized by using an improved undominated sorting genetic algorithm (NSGA- 鈪，

本文編號：1823806