Finally , for the definite mechanism and indefinite size of industrial robots ' executor as well as the size ^ optimization goal , the mathematic model is set up to optimize the executor ' size with using complex optimization method . next , for the optimized executor , the desired trajectory and planning goal , the kinematics model and proper referent and motive coordinates systems are set up . by making use of the result of the previous motion analysis , genetic algorithm is applied to the trajectory planning of executor 最后，对于结构给定而构件尺度未定的工业机器人执行机构，先根据机构尺度优化目标，建立数学模型、用复合形法进行构件尺度优化；再根据给定的期望轨迹和规划目标，建立数学模型，利用复指数变换法对执行机构进行运动分析的结果，采用进化算法对工业机器人进行轨迹规划。
Abstract : optimum design of individual foundation considering the effect of strength and deformation is discussed in this paper . the optimal mathematical model of determining the bottom surface demention of individual foundation under eccentric load is derived . the optimal solution is decided by method of optimization and the method we select is penalty fonction and complex method . the program of optimum algorithm is comiled and design and drawing of individual foundation is completed . the final results of engineering samples suggest that the cost of material and engineering amount can reduce approximatly 5 % - 6 % . a fair - sized economic efficiency can be received by using optimum method to design foundation 文摘:笔者讨论了独立基础在考虑强度和变形条件下的优化设计.导出了确定独立基础底面尺寸的优化数学模型，导出了偏心荷载作用下基础的高度和底面配筋的计算公式，求解优化解采用最优化方法的复合形法和罚函数法.通过基础实例和工程实例的计算表明优化设计可以节省材料和工程量5 16 .所以将本文优化方法用于基础设计，会产生较大的经济效益
