基于遗传-迭代算法的运动平台位置正解  

Forward Kinematics Solution of Stewart Platform Based on Hybrid Genetic Algorithm

作　　者：弓瑞[1] 汪首坤[1] 黄小天[2] 

机构地区：[1]北京理工大学自动化学院,北京100081 [2]中国人民解放军驻618厂军代室,北京100072

出　　处：《液压与气动》2016年第8期102-107,共6页Chinese Hydraulics & Pneumatics

摘　　要：针对六自由度运动平台的位置正解问题进行了分析,提出了一种基于遗传-Newton迭代算法的六自由度运动平台正解算法,给出了该算法的具体实现流程,并且利用该算法求解相应的六自由度运动平台位置正解问题,给出了相应的运算实例。同时对遗传-Newton迭代算法和遗传算法求解同一运算实例的结果进行对比。对比结果表明,遗传-Newton迭代算法与遗传算法相比,具有求解精度高,速度快的优点,更能够满足工程实际的要求。After the analysis of the forward displacement for Stewart platform, a method based on the genetic and Newton iteration hybrid algorithm is studied. The specific procedures of the method are provided. The methods based on the hybrid genetic algorithm and the sole genetic algorithm are used to implement the forward kinematics solution of the Stewart platform. The computing results for the design example are presented to verify the validity of the method. The results demonstrate that the hybrid genetic algorithm is faster and more accurate than the sole ge- netic algorithm, and therefore the hybrid genetic algorithm meets the demand of the actual project better.

关 键 词：六自由度运动平台 正解 遗传-迭代算法 

分 类 号：TH137[机械工程—机械制造及自动化] TP391.9[自动化与计算机技术—计算机应用技术]