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《Machinery Design & Manufacture》 2009-10
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Structural topology optimization of a micro resonant robot based on genetic algorithm

LI Wei-da,WAND Peng-fei,CHEN Xu-gui,SUN Li-ning(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China)  
A novel micro robot resonant leg is presented and structural topology optimization based on genetic method is used to get equal bending natural frequency to torsion natural frequency.Aim at the dis-connectivity and chessboard pattern produced by heredity,chiasma and mutation,feasible solution transform and hierarchical penalty methods are applied.And connectivity analyzing is performed before finite element analyzing,which raised compute efficiency.
【Fund】: 国家自然科学基金资助项目(60675038);; 国家高技术研究发展计划(863)项目(2008AA04Z211)
【CateGory Index】: TH112
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