深海采矿转臂关节运动规划的遗传退火算法

在转臂支腿式采矿机构中，采矿转臂受力复杂多变，若采用传统动力学对其分析时，工作量大，所解方程庞杂，求解不便甚至无解，而且不方便计算机数值求解。为此针对采矿机构转臂关节动力学特性，采用Kane法建立转臂姿态调整时的动力学模型，并在此基础上采用遗传退火算法对转臂关节运动进行规划，使其关节力矩变化幅度最小且采矿姿态调整更加平稳。为开发此新型采矿机构及其转臂在海水中精确控制具有积极的理论指导意义。

Motion Planning of Rotating Arm Joint in Deep Sea Mining Based on Genetic Annealing Algorithm

The stress on the rotary arm， in the mining system with rotating arm and landing leg， is complex and changeable. Analysis on the stress by the traditional dynamics usually leads to huge workload and complex equations with inconvenient solution or even non-solution. It is unavailable to make numerical solution in computer. Therefore， aiming at the joint dynamic characteristics of the rotating arm in mining system， the Kane method is used to establish the dynamics model for the attitude adjustment of the rotary arm. On this basis， the genetic annealing algorithm is adopted to plan the movement of the rotating arm so as to make the joint torque minimal and the attitude adjustment of mining more smooth and steady. It provides positive theoretical significance to develop this new type of mining system and precisely control the rotating arm in seawater.