基于连续蚁群算法的3-RPS并联机构正解  

Forward Kinematics of 3-RPS Parallel Mechanism Based on a Continuous Ant Colony Algorithm

作　　者：谢志江[1] 梁欢[1] 宋代平[1] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400030

出　　处：《中国机械工程》2015年第6期799-803,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51105392);重庆市自然科学基金资助项目(cstc2011jj A70006);中央高校基本科研业务费专项资金资助项目(CDJRC10110005)

摘　　要：为了避免传统数值方法求解并联机构正解问题的弊端,提出了一种将并联机构正解问题转化为目标函数优化问题的求解方法。并联机构正解的核心问题是求解一组多元耦合非线性方程组,以此为依据建立了并联机构正解的目标函数优化模型,并提出了一种简单的连续蚁群算法来求解该优化模型。以求解3-RPS并联机构正解为例进行了仿真分析。结果表明,该算法具有良好的全局寻优功能,能够避免初始值和局部极小值对计算结果的影响,不用计算雅可比矩阵及其逆阵,且计算精度满足并联机构正解的要求。In order to avoid the drawbacks of traditional numerical methods for solving the problem of parallel mechanism forward kinematics,this paper proposed a method that translated the problem of solving parallel mechanism forward kinematics into obj ective function optimization problems.The central issue of solving the problem of parallel mechanism forward kinematics was to solve a set of multiple coupled nonlinear equations,thus obj ective function optimization model of parallel mechanism forward kinematics was established,and a kind of simple continuous ant colony algorithm was put for-ward to solve the above optimization model.Taking the 3-RPS parallel mechanism for example,some simulation analyses were completed.The results show that the algorithm has a good global optimiza-tion function and can avoid initial values and the local minimum effect on the calculation results with-out calculating Jacobian matrix and its inverse matrix.The accuracy of calculation meets the require-ments of parallel mechanism of forward kinematics.

关 键 词：并联机构 运动学正解 蚁群算法 多目标优化 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TH112[自动化与计算机技术—计算机科学与技术]