仿生移动机器人并联机构运动学正解的鱼群算法求解  

Analysis of Forward Kinematics for Bionic and Mobile Robot with AFSA

作　　者：宋孟军[1] 张明路[1] 

机构地区：[1]河北工业大学,天津300130

出　　处：《中国机械工程》2012年第9期1029-1036,共8页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(61075097)

摘　　要：基于改进的人工鱼群算法,提出了并联机构运动学正解的求解方法。构建了仿生移动机器人处于支撑状态的并联机构模型,应用螺旋理论计算了该并联机构的空间机构自由度,构建了仿生移动机器人并联机构的运动学正解模型,利用鱼群算法对正解模型的约束方程组进行设计。对鱼群算法所用数学模型进行了构建,对改进后的人工鱼群行为进行了算法描述。仿真结果表明,该人工鱼群算法具有良好的寻优性能,满足仿生移动机器人并联机构正解模型的求解要求。An improved AFSA for the forward kinematics analysis of a bionic and mobile robot was presented.Parallel mechanism model was constructed when the robot was in a standing state.Degrees of freedom of the parallel mechanism were calculated with screw theory.Forward kinematics model of the bionic and mobile robot was constructed.The improved AFSA was based on the constraint equations of forward kinematics model of the bionic and mobile robot.The mathematical model for the AFSA was constructed and the process of the improved AFSA was presented.Finally,the simulation results show that the optimization performance of the AFSA has a good performance,can meet the requirements to solve forward kinematics of the bionic and mobile robot.

关 键 词：移动机器人 仿生机器人 鱼群算法 并联机构 运动学正解 

分 类 号：O24[理学—计算数学] TB11[理学—数学]