基于粒子-人工蜂群算法的3RPUP_(c)-UPS并联机构运动学正解研究  

Forward kinematics solutions of 3RPUP_(c)-UPS parallel mechanism based on a particle-artificial bee colony algorithm

作　　者：常振振 张彦斌[1] 张双 宋黎明[1] 李耀光 CHANG Zhenzhen;ZHANG Yanbin;ZHANG Shuang;SONG Liming;LI Yaoguang(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang 471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003

出　　处：《机电工程》2024年第2期311-318,共8页Journal of Mechanical & Electrical Engineering

基　　金：河南省科技攻关项目(192102210221);河南省高等学校重点科研项目(22A460024);河南省科技发展计划项目(232102220069)。

摘　　要：针对3RPUP_(c)-UPS并联机构运动学正解求解困难的问题,对新型3RPUPc-UPS并联机构的运动学特性进行了研究,并构建出位置正解求解模型,进而提出了一种基于粒子-人工蜂群算法(P-ABC)的并联机构运动学求解方法。首先,根据机构的拓扑特性,计算得到了方位特征集、自由度和耦合度;然后,根据机构的几何特征,基于姿态变换矩阵和动平台投影方程,建立了机构的运动学逆解方程,并对比了MATLAB和SOLIDWORKDS的仿真结果,验证了逆解分析的正确性;最后,将运动学逆解方程转化为最小化求解问题,构建出了适合优化算法的运动学正解模型,并利用MATLAB的软件交互界面(GUI)功能,开发出用于计算并联机构运动学正解的软件,分别基于粒子群算法(PSO)、人工蜂群算法(ABC)和P-ABC算法,对该并联机构的运动学正解进行了计算。研究结果表明:P-ABC算法单次求解时间在0.5 s内,求解误差级别为10-20,相对于ABC算法,运行时间缩短了50.02%;而相对于POS算法,其求解精度提高了10个数量级。P-ABC算法能够用于求解该并联机构运动学正解,具有计算速度快、精度高的特点,可以为研究并联机构运动学正解提供新方法。Aiming at the difficulty in solving the forward kinematics of 3RPUP_(c)-UPS parallel mechanism,the kinematics of a new 3RPUP_(c)-UPS parallel mechanism were studied,and the forward kinematics solution model was constructed,and then a kinematics solution method of parallel mechanism based on particle-artificial bee colony(P-ABC)algorithm was proposed.Firstly,according to the topological characteristics of the mechanism,the position and orientation characteristics,degrees of freedom and coupling degrees were calculated.Then,according to the geometric characteristics of the mechanism,the inverse kinematics equations were established based on the attitude transformation matrix and the projection equation of moving platform,and the correctness was verified by comparing the simulation results of MATLAB and SOLIDWORKS.Finally,the inverse kinematics equations were transformed into a minimization problem,and then a forward kinematics model suitable for optimization algorithm was constructed.The software for calculating the forward kinematics solution of the parallel mechanism was developed by using the graphic user interface(GUI)function of MATLAB,and the forward kinematics solutions were calculated based on particle swarm optimization(PSO),artificial bee colony(ABC)and P-ABC algorithm.The research results show that the solution time taken by P-ABC algorithm to solve the forward kinematics solutions is within 0.5 s,and the solution error level is 10-20.Comparing with the ABC algorithm,the running time of the P-ABC algorithm is shortened 50.02%,and the accuracy of the solution is improved 10 orders of magnitude compared with the PSO algorithm.The P-ABC algorithm,which has the characteristics of fast calculation speed and high precision,can be used to solve the forward kinematics of the mechanism.This work provides a new method for studying the forward kinematics of parallel mechanisms.

关 键 词：机构学 并联机构 位置正解求解模型 方位特征集 粒子-人工蜂群算法 软件交互界面 

分 类 号：TH112[机械工程—机械设计及理论]