1st International ICST Workshop on Artificial Intelligence in Grid Computing

Research Article

Research on Design of a Planar Parallel Hybrid Actuator Based on Improved Genetic Algorithm

  • @INPROCEEDINGS{10.1145/1577389.1577393,
        author={Ke Zhang and Kun Gao and Hui Zhang},
        title={Research on Design of a Planar Parallel Hybrid Actuator Based on Improved Genetic Algorithm},
        proceedings={1st International ICST Workshop on Artificial Intelligence in Grid Computing},
        publisher={ACM},
        proceedings_a={AIGC},
        year={2007},
        month={8},
        keywords={Planar Parallel hybrid actuator Design Improved genetic algorithm.Algorithms Performance Design Theory.},
        doi={10.1145/1577389.1577393}
    }
    
  • Ke Zhang
    Kun Gao
    Hui Zhang
    Year: 2007
    Research on Design of a Planar Parallel Hybrid Actuator Based on Improved Genetic Algorithm
    AIGC
    ACM
    DOI: 10.1145/1577389.1577393
Ke Zhang1,*, Kun Gao2,*, Hui Zhang3,*
  • 1: Shanghai Institute of Technology 120 Caobao Road, 200235 Shanghai, P. R. China +86-21-64942827
  • 2: Computer Science and Information Technology College Zhejiang Wanli University No. 8 South Qianhu Road, China
  • 3: Suzhou Mingzhi Foundry Equipment Co., Ltd., SuZhou, P. R. China +86-512-67169566
*Contact email: zhangk2007@gmail.com, gaoyibo@gmail.com, zhang_hui@mingzhi-tech.com

Abstract

Hybrid actuators, which are a combination of two types of motor and mechanism, have great flexibility. The concise and available method of dynamics analysis and optimal design for a hybrid actuator is derived on the basis of geometric configuration of the hybrid five bar actuator in this paper. The classical dynamics analysis principle and calculus of variations are applied to derive equations of dynamics analysis. By means of the method, it is simple and convenient for solving the main driving power, the assist driving power or the dynamic reaction forces of a hybrid actuator. Based on an improved genetic algorithm (GA) and dynamics analysis, optimal dynamic design of hybrid five bar actuator is proposed in the study presented here.