基于混合遗传算法的3-RPS并联机构正解  

Forward Kinematic for 3-RPS Parallel Mechanism Based on Hybrid Genetic Algorithm

作　　者：胡映光 胡明[1] 刘军红[1] 

机构地区：[1]东北大学机械工程与自动化学院,沈阳110819

出　　处：《组合机床与自动化加工技术》2017年第6期34-36,共3页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对传统的迭代求解方法因初值设置不当而引起的求解失败以及求解速度慢等问题,提出了一种新型的混合遗传算法求解并联机构运动学正解。混合遗传算法利用遗传算法高效的全局搜索能力及起始搜索速度快的特点,能够快速得到接近精确解的较优解,然后将其作为拟牛顿法迭代的初值,利用其局部搜索能力非常好的特点,快速收敛到精确解。通过算例结果对比表明,此方法容易实现、通用性强、精度高、收敛性好、求解速度快,解决3-RPS并联机构的正解问题是可行的。A new type of hybrid genetic algorithm is proposed to solve the forward kinematic for 3-RPS parallel mechanism due to the failure of the traditional iterative solution and the slow solution. Hybrid Genetic Algorithm（GA）,which utilizes the efficient global searching ability and fast initial search speed of genetic algorithm,quickly obtains the optimal solution which is close to the exact solution,and then uses it as the initial value of the quasi-Newton iterative method,and the exact solution is solved by its strong local search ability. The results show that this method is easy to implement,high versatility,high precision and good convergence. It is feasible to solve the forward kinematic for 3-RPS parallel mechanism.

关 键 词：3-RPS并联机构 运动学正解 混合遗传算法 全局搜索 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]