基于连续蚁群算法的3-RPS并联机构正解

中国机械工程 ›› 2015, Vol. 26 ›› Issue (6): 799-803.

基于连续蚁群算法的3-RPS并联机构正解

谢志江;梁欢;宋代平

重庆大学机械传动国家重点实验室,重庆,400030

出版日期:2015-03-25 发布日期:2015-03-24
基金资助:
国家自然科学基金资助项目(51105392);重庆市自然科学基金资助项目（cstc2011jjA70006);中央高校基本科研业务费专项资金资助项目(CDJRC10110005)

Forward Kinematics of 3-RPS Parallel Mechanism Based on a Continuous Ant Colony Algorithm

Xie Zhijiang;Liang Huan;Song Daiping

The State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing,400030

Online:2015-03-25 Published:2015-03-24
Supported by:
National Natural Science Foundation of China（No. 51105392）;Natural Science Foundation of Chongqing（No. cstc2011jjA70006）;Fundamental Research Funds for the Central Universities( No. CDJRC10110005 )

摘要/Abstract

摘要：

为了避免传统数值方法求解并联机构正解问题的弊端,提出了一种将并联机构正解问题转化为目标函数优化问题的求解方法。并联机构正解的核心问题是求解一组多元耦合非线性方程组,以此为依据建立了并联机构正解的目标函数优化模型,并提出了一种简单的连续蚁群算法来求解该优化模型。以求解3-RPS并联机构正解为例进行了仿真分析。结果表明,该算法具有良好的全局寻优功能，能够避免初始值和局部极小值对计算结果的影响，不用计算雅可比矩阵及其逆阵，且计算精度满足并联机构正解的要求。

关键词: 并联机构, 运动学正解, 蚁群算法, 多目标优化

Abstract:

In order to avoid the drawbacks of traditional numerical methods for solving the problem of parallel mechanism forward kinematics, this paper proposed a method that translated the problem of solving parallel mechanism forward kinematics into objective function optimization problems. The central issue of solving the problem of parallel mechanism forward kinematics was to solve a set of multiple coupled nonlinear equations, thus objective function optimization model of parallel mechanism forward kinematics was established, and a kind of simple continuous ant colony algorithm was put forward to solve the above optimization model. Taking the 3-RPS parallel mechanism for example, some simulation analyses were completed. The results show that the algorithm has a good global optimization function and can avoid initial values and the local minimum effect on the calculation results without calculating Jacobian matrix and its inverse matrix. The accuracy of calculation meets the requirements of parallel mechanism of forward kinematics.

Key words: parallel mechanism, forward kinematics, ant colony algorithm, multi-objective optimization

中图分类号:

谢志江, 梁欢, 宋代平. 基于连续蚁群算法的3-RPS并联机构正解[J]. 中国机械工程, 2015, 26(6): 799-803.

Xie Zhijiang, Liang Huan, Song Daiping. Forward Kinematics of 3-RPS Parallel Mechanism Based on a Continuous Ant Colony Algorithm[J]. China Mechanical Engineering, 2015, 26(6): 799-803.

参考文献

[1]胡鹏浩,李松原.3-PSS并联机构正解及其在坐标测量机中的应用[J].光学精密工程,2012,20(4):782-788.
Hu Penghao, Li Songyuan. Kinematic Solution of 3-PSS Parallel Mechanism and Its Application in Parallel CMM[J]. Optics and Precision Engineering,2012,20(4):782-788.
[2]季晔,刘宏昭,原大宁.并联机构位置正解方法研究[J].西安理工大学学报,2010,26(3):277-281.
Ji Ye, Liu Hongzhao, Yuan Daning. Research on Approach of Forward Positional Analysis of Parallel Mechanism[J]. Xi'an University of Technology Newspaper, 2010,26(3):277-281.
[3]程世利,吴洪涛,姚裕.6-SPS并联机构运动学正解的一种解析化方法[J]. 机械工程学报，2010,46(9)：26-31.
Cheng Shili, Wu Hongtao, Yao Yu.An Analytical Method for the Forward Kinematics Analysis of 6-SPS Parallel Mechanisms[J]. Chinese Journal of Mechanical Engineering, 2010,46(9):26-31.
[4]Lee K,Shah K D. Kinematic Analysis of a Three Degrees of Freedom in-parallel Actuated Manipulator[J]. IEEE Journal of Robotics and Automation, 1988,4(3): 361-367.
[5]Hashimoto M, Imamura Y. Kinematic Analysis and Design of a 3 DOF Parallel Mechanism for a Passive Compliant Wrist of Manipulators[J]. Transactions of the Japan Society of Mechanical Engineers,1998,64:2116-2123.
[6]韩方元,赵丁选,李天宇.3-RPS并联机构正解快速数值算法[J].农业机械学报,2011,42(4):229-233.
Han Fangyuan, Zhao Dingxuan, Li Tianyu. A Fast Forward Algorithm for 3-RPS Parallel Mechanism[J].Transactions of the Chinese Society of Agricultural Machinery,2011,42(4):229-233.
[7]申铉京,刘阳阳,黄永平.求解TSP问题的快速蚁群算法[J].吉林大学学报,2013,43(1):147-151.
She Xuanjing, Liu Yangyang, Huang Yongping. Fast Ant Colony Algorithm for Solving Traveling Salesman Problem[J]. Journal of Jilin University, 2013,43(1): 147-151.
[8]高尚,杨静宇.群智能算法及其应用[M].北京:中国水利水电出版社,2006.
[9]Dero J, Siam P. Continuous Interacting Ant Colony Algorithm Based on Dense Heterarchy[J]. Future Generation Computer Systems, 2004, 5(20): 841-856.
[10]Li Y J, Wu T J. An Adaptive Ant Colony System Algorithm for Continuous Space Optimization Problems[J]. Journal of Zhejiang University:Science,2003, 4（1）:40-46.
[11]Karaboga N, Kalinli A, Karaboga D. Designing Digital IIR Filters Using Ant Colony Optimization Algorithm[J]. Engineering Application of Artificial Intelligence, 2004,17(2):301-309.
[12]Socha K, Dorigo M. Antcolony Optimization for Continuous Domains[J]. European Journal of Operational Research, 2008, 185(3): 1155-1173.

[1]	李明磊, 贾育秦, 张学良, 刘丽琴, 杜娟, 温淑花, 兰国生. 基于多目标差异演化算法的并联机构结构优化 [J]. J4, 201016, 21(16): 1915-1920.
[2]	鲁开讲, 师俊平, 张锋涛. 平面三自由度并联机构动力学优化设计 [J]. J4, 201016, 21(16): 1926-1931.
[3]	翁剑, 庄可佳, 浦栋麟, 丁汉, . 基于机器学习和多目标算法的钛合金插铣优化[J]. 中国机械工程, 2021, 32(07): 771-777.
[4]	倪恒欣, 阎春平, 陈建霖, 侯跃辉, 陈亮. 高速干切滚齿工艺参数的多目标优化与决策方法[J]. 中国机械工程, 2021, 32(07): 832-838.
[5]	龚峻山;方跃法;靳晓东. 基于并联手指结构的多功能灵巧手的设计与研究[J]. 中国机械工程, 2020, 31(23): 2837-2846.
[6]	刘锋, 李吉泉, 彭翔, 姜少飞. [成形过程仿真优化与集成计算材料工程]限定加热管布局的快速热循环注塑成形模具电加热系统优化[J]. 中国机械工程, 2020, 31(22): 2699-2707.
[7]	焦东风;刘志峰. 低成本低噪声的驱动桥零部件精度优化方法[J]. 中国机械工程, 2020, 31(20): 2505-2511.
[8]	童哲铭1；陈尧1；童水光1；余跃1；李进富2；郝国帅3. 基于NSGA-Ⅲ算法的低比转速离心泵多目标优化设计[J]. 中国机械工程, 2020, 31(18): 2239-2246.
[9]	王一熙1;吴广磊2;沈惠平1;李家宇1;孟庆梅1;李菊1;邓嘉鸣1. 半对称三平移Delta-CU并联机构的刚度建模与分析[J]. 中国机械工程, 2020, 31(17): 2050-2058.
[10]	沈惠平, 许可, 杨廷力. 基于单开链有序求解的机构正向运动学建模原理及其两种求解方法[J]. 中国机械工程, 2020, 31(14): 1647-1658.
[11]	辜勇, 袁源乙, 张列, 段晶晶. 带时间窗的多中心半开放式车辆路径问题[J]. 中国机械工程, 2020, 31(14): 1733-1740.
[12]	刘红艺, 樊锐, 郭江真, 张维, 赵钦志, 陈五一. [可靠性建模及试验技术]面向数控机床可靠性试验的多维力随动加载装置[J]. 中国机械工程, 2020, 31(13): 1606-1612.
[13]	刘世豪, 林茂. [综述]高速数控转台优化设计方法研究现状与展望[J]. 中国机械工程, 2020, 31(13): 1629-1637.
[14]	李益兵1,2;黄炜星1;吴锐1. 基于改进人工蜂群算法的多目标绿色柔性作业车间调度研究[J]. 中国机械工程, 2020, 31(11): 1344-1350,1385.
[15]	丁晓红;张俊;张横. 三点支撑T形床身机床垫铁位置多目标优化设计[J]. 中国机械工程, 2019, 30(21): 2615-2621.