球面4R机构近似轨迹综合的社会认知优化算法  

Social Cognitive Optimization Algorithm for Approximate Path Generation Synthesis of Spherical 4R Linkage

作　　者：车林仙[1,2] 黄勇刚[2] 杜力[2] Che Linxian;Huang Yonggang;Du Li(School of Intelligent Manufacturing and Traffic,Chongqing Vocational Institute of Engineering,Chongqing 402260,China;Chongqing Municipal Key Laboratory of Mechanism Design and Control for Manufacturing Equipment,Chongqing Technology and Business University,Chongqing 400067,China)

机构地区：[1]重庆工程职业技术学院智能制造与交通学院,重庆402260 [2]重庆工商大学制造装备机构设计与控制重庆市重点实验室,重庆400067

出　　处：《机械传动》2020年第2期42-54,共13页Journal of Mechanical Transmission

基　　金：重庆市基础科学与前沿技术研究专项（cstc2015jcyjA70006）;重庆市教育委员会科学技术研究重点项目（KJZDK201803401）重庆市教育委员会科学技术研究青年项目（KJQN201903409）

摘　　要：应用坐标变换原理,推导出球面4R机构连杆点轨迹参数方程。在此基础上,以轨迹误差平方和最小为目标函数,以曲柄存在、杆长协调和传动角限制等为约束条件,建立机构不带预定时标近似轨迹综合的约束优化模型。结合自适应罚函数法,应用社会认知优化(Social Cognitive Optimi⁃zation,SCO)算法求解该问题。为提高SCO算法的收敛精度和速度,以差分进化(Differential Evolu⁃tion,DE)操作为邻域搜索算子,设计一种加速社会认知优化(Accelerating Social Cognitive Optimiza⁃tion,ASCO)算法。给出机构综合实例,轨迹分析结果表明,所建立的模型和提出的ASCO算法可行有效。比较了基本SCO、DE和ASCO算法求解该机构综合实例的优化性能,数值实验显示,ASCO算法的收敛速度、收敛精度和稳健性等性能指标优于基本SCO和DE算法。Using the coordinate transformation principle,the parametric equation for the trajectory gener⁃ated is derived by the coupler point of spherical 4R linkage.On this basis,a constrained optimization model is constructed to formulate the approximate synthesis problem of spherical 4R linkage for the path generation with⁃out prescribed timing.The model takes the minimizing sum of squares for path errors as the objective func⁃tion,and the existing crank,length coordination,and transmission angle restriction as the constraints.Com⁃bining the self-adaptive penalty function method,this study employs the social cognitive optimization(SCO)al⁃gorithm to solve the aforementioned problem.In order to enhance the convergence speed and accuracy of SCO algorithm,a novel accelerating social cognitive optimization(ASCO)algorithm is proposed in which the differ⁃ential evolution(DE)operators are used to local search.Numerical examples of mechanism synthesis are given,and trajectory analysis results show that the established model and presented ASCO algorithm are feasible and effective.Furthermore,comparative tests on computational performance to address the examples are imple⁃mented with SCO,DE,and ASCO algorithm,and the numerical experiments indicate that ASCO outperforms SCO and DE in terms of robustness,convergence speed and accuracy.

关 键 词：球面4R机构 轨迹综合 约束优化设计 社会认知优化算法 差分进化算法 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TH112[自动化与计算机技术—控制科学与工程]