基因演算法對複合式運動平台協同運動之最佳化

Abstract

多自由度、高精度之曲面加工機具，已成為工具機未來發展之趨勢，本實驗室所開發之複合式五軸工具機，其構型由史都華平台搭配XY-Table，不僅具有史都華平台之精密定位之優點，又改善史都華平台工作空間過小之問題。本論文的目的在結合兩種定位機具，利用基因演算法，尋求出X-Y Table與史都華平台協調運動最佳化模式，且藉由此最佳化模式，能有效降低軌跡的輪廓誤差。此外，基因演算法提供一最佳化且有系統的方式，尋求交叉耦合預補嘗法中的增益值。

Recently, effort on developing a new type of machine tool, based on Stewart platform has been made widely. It can generate complex three dimensional tool paths easily and achieve the request of high precision. But it has not enough workspace and has singularity problems. The propose of the research is to compose of 6-DOF Stewart Platform and XY-Table and to find the optimization of motion coordination for hybrid motion platform using genetic algorithm. The contour error of the trajectory can be reduced efficiently by the optimization of motion coordination. Besides, the use of genetic algorithms provides an optimal and systematic procedure for the selection of the feedback gain of Multi-axis Cross-Coupled Pre-compensation Method.