Evaluating and optimization of 7-DOF automated fiber placement robotic manipulator performance index based on AdaBoost algorithm

摘要

In order to meet the work task better, the new performance index of the 7-DOF (degree of freedom) automated fiber placement robotic manipulator is constructed. The evaluation performance index is composed by giving condition number and manipulability different weights, at the same time considering the flexibility and motion capacity in fiber placement process, the proposed new performance index is optimized by AdaBoost algorithm, and the optimal weighting coefficients that constructed the new performance index are obtained, the proposed new performance index is simulated under the condition that the weighting coefficients are optimal, the results show that the proposed new performance index of the 7-DOF automated fiber placement robotic manipulator can satisfy the flexibility and manipulability in fiber placement process.