基于模拟退火算法的Stewart平台的运动学正解分析  

Analysis of Positive Kinematics of Stewart Platform Based on Simulated Annealing Algorithm

作　　者：邵云龙 吴建民 孔森 李莹 周洋 SHAO Yun-long;WU Jian-min;KONG Sen;LI Ying;ZHOU Yang(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,201620

出　　处：《软件》2020年第6期247-252,256,共7页Software

摘　　要：在工业生产之中Stewart平台被广泛应用。由于上平台得位姿不易得到测量,又需要监控机构的运行位置。因此对Stewart平台进行运动学正解分析是十分必要的。本文利用牛顿-泰勒法建立Stewart平台的运动学正解模型,求解出位置逆解、速度逆解。并利用模拟退火算法与初值无关并且具有概率突跳性和Newton-Raphson迭代法精度高的特点,提出了模拟退火算法和Newton-Raphson迭代法相结合的Stewart平台位置正解方法。通过MATLAB编制了运动学正解和运动学反解的程序。利用SolidWorks进行建模,并且在Adams上进行运动仿真验真了算法的准确性,为下一步的研究提供理论依据。The Stewart platform is widely used in industrial production due to its advantages such as high rigidity,stable structure,and other advantages.However,since the posture of the upper platform is difficult to measure during the operation,it is necessary to monitor the operating position of the mechanism to ensure the safe operation of the mechanism.Therefore,it is necessary to analyze the forward kinematics of the Stewart platform.In this paper,the Newton-Taylor method is used to establish a positive kinematics solution model of the Stewart platform,and the inverse position and velocity solutions are solved.The simulated annealing algorithm is independent of the initial value and has the characteristics of probability jump and high accuracy of the Newton-Raphson iteration method.A Stewart platform forward solution method combining the simulated annealing algorithm and the Newton-Raphson iteration method is proposed.Programs for positive and negative kinematics were compiled by MATLAB.Modeling with SolidWorks and motion simulation on Adams verified the accuracy of the algorithm,providing a theoretical basis for further research.

关 键 词：STEWART平台 模拟退火算法 NEWTON-RAPHSON SOLIDWORKS ADAMS 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]