一种新型并联机构工作空间边界搜索算法研究  

Research on a New Parallel Mechanism Workspace Boundary Search Algorithm

作　　者：邱栋 QIU Dong(School of International Education,Huanghuai University,He'nan Zhumadian 463000,China)

机构地区：[1]黄淮学院国际教育学院,河南驻马店463000

出　　处：《机械设计与制造》2023年第7期215-222,共8页Machinery Design & Manufacture

基　　金：河南省重点科技攻关项目(192102210285)基于物联网的数据中心智能防尘技术研究。

摘　　要：针对传统工作空间数值搜索法搜索效率低的问题,提出了一种利用变步长天牛须算法确定机构工作空间边界的新求解算法。通过对基于变步长天牛须优化算法(BAS)的改进,制定基于距出发起点的欧氏距离和符合工作空间的复合通用目标函数,定义了天牛须速度变量、衰减系数等参数,多天牛群(MBSA)能在多维度机构边界点寻找达到其最大值,从而快速找到精确的边界点集合。以3RPR平面并联机构和空间3UPRRR并联机构为例,利用MBSA算法最优化求解得到工作空间边界集合,与极坐标搜索法相比,验证该方法的有效性、高效性。还研究了初始位置、速度以及变步长和速度衰减系数对工作空间搜索的影响,结果表明:MBAS工作空间搜索算法具有较强通用性,初始点的选择的不影响搜索结果,速度以及变步长和速度衰减系数对收敛速度有明显影响,与离散化方法相比MBAS搜索过程搜索效率高、边界点准确、通用性强。A new algorithm is proposed to determine the workspace boundary of mechanism by using the variable step size Tennessee algorithm in order to solve the problem of low eficiency of traditional workspace numerical search method,Based on the improvement of BAS,the Euclidean distance from the starting point and the composite objective function according to the workspace are formulated,and the parameters such as velocity variable and attenuation coefficient are defined.MBSA can find the maximum value at the boundary point of multi-dimensional mechanism,so as to quickly find the exact set of boundary points.Taking 3RPR planar parallel mechanism and 3UPRRR spatial parallel mechanism as examples,the workspace boundary set is obtained by MBSA algorithm.Compared with polar search method,the validity and efficiency of this method are verified.The influence of initial position,velocity,variable step length and velocity decay coefficient on workspace search is also studied.The results show that MBAs workspace search algorithm has strong generality,the selection of initial point does not affect the search results,and velocity,variable step length and velocity decay coefficient have obvious influence on convergence speed.Compared with discretization method,MBAs search process has high search efficiency The boundary points are accurate and universal.

关 键 词：变步长天牛须算法 并联机构 工作空间 多维度 精确性 

分 类 号：TH16[机械工程—机械制造及自动化] TH122