發(fā)布時(shí)間：2018-04-30 08:23

  本文選題：仿生原理 + 眼外肌�。� 參考：《機(jī)器人》2017年02期

【摘要】：針對(duì)低空空域視覺(jué)監(jiān)控系統(tǒng)需同時(shí)保證大范圍搜索和對(duì)目標(biāo)持續(xù)平滑跟蹤的要求,依據(jù)仿生原理,設(shè)計(jì)了一種模擬人類(lèi)眼外肌功能的仿生并聯(lián)眼動(dòng)機(jī)構(gòu)構(gòu)型.為克服當(dāng)前并聯(lián)眼動(dòng)機(jī)構(gòu)多采用單目標(biāo)優(yōu)化方法而無(wú)法保障動(dòng)平臺(tái)傾角及運(yùn)動(dòng)精度、機(jī)構(gòu)靈巧度、運(yùn)動(dòng)傳遞性能等運(yùn)動(dòng)性能同時(shí)取優(yōu)的問(wèn)題,在安裝空間、驅(qū)動(dòng)件尺寸、鉸鏈偏角等約束條件下,采用改進(jìn)非支配排序遺傳算法(NSGA-Ⅱ)優(yōu)化機(jī)構(gòu)的結(jié)構(gòu)參數(shù).根據(jù)優(yōu)化得到的結(jié)構(gòu)參數(shù)搭建了實(shí)驗(yàn)樣機(jī).實(shí)際測(cè)量結(jié)果表明,所設(shè)計(jì)的機(jī)構(gòu)能夠在動(dòng)平臺(tái)最大傾角、綜合運(yùn)動(dòng)性能方面取得較為理想的效果,動(dòng)平臺(tái)傾角可達(dá)55.94?,精度可達(dá)0.01?,優(yōu)于人類(lèi)視覺(jué)系統(tǒng)及相關(guān)研究,滿(mǎn)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(hào)：1823806