Analysis of Forward Kinematics for Bionic and Mobile Robot with AFSA

Abstract

Abstract:

An improved AFSA for the forward kinematics analysis of a bionic and mobile robot was presented. Parallel mechanism model was constructed when the robot was in a standing state.Degrees of freedom of the parallel mechanism were calculated with screw theory. Forward kinematics model of the bionic and mobile robot was constructed. The improved AFSA was based on the constraint equations of forward kinematics model of the bionic and mobile robot. The mathematical model for the AFSA was constructed and the process of the improved AFSA was presented. Finally, the simulation results show that the optimization performance of the AFSA has a good performance, can meet the requirements to solve forward kinematics of the bionic and mobile robot. 

Key words: mobile robot; , bionic robot; , artificial fish swarm algorithm(AFSA), parallel mechanism;forward kinematics

摘要：

基于改进的人工鱼群算法,提出了并联机构运动学正解的求解方法。构建了仿生移动机器人处于支撑状态的并联机构模型,应用螺旋理论计算了该并联机构的空间机构自由度,构建了仿生移动机器人并联机构的运动学正解模型,利用鱼群算法对正解模型的约束方程组进行设计。对鱼群算法所用数学模型进行了构建,对改进后的人工鱼群行为进行了算法描述。仿真结果表明,该人工鱼群算法具有良好的寻优性能,满足仿生移动机器人并联机构正解模型的求解要求。

关键词: 移动机器人, 仿生机器人, 鱼群算法, 并联机构, 运动学正解

CLC Number:

SONG Meng-Jun, ZHANG Meng-Lu. Analysis of Forward Kinematics for Bionic and Mobile Robot with AFSA[J]. China Mechanical Engineering, 2012, 23(9): 1029-1036.

宋孟军, 张明路. 仿生移动机器人并联机构运动学正解的鱼群算法求解[J]. 中国机械工程, 2012, 23(9): 1029-1036.

References

[1]Jamwal P K,Xie S Q,Tsoi Y H. Forward Kinematics Modelling of a Parallel Ankle Rehabili-tation Robot Using Modified Fuzzy Inference[J].Mechanism and Machine Theory,2010,(11):1537-1554.
[2]Li M,Huang T,Chetwynd D G. Forward Position Analysis of the 3-DOF Module of the Tr-iVariant:A 5-DOF Reconfigurable Hybrid Robot[J].Journal of Mechanical Design,Transactions of the ASME,2006.319-322.
[3]赵杰,朱延河,蔡鹤皋.Delta型并联机器人运动学正解几何解法[J].哈尔滨工业大学学报,2003,35(1):25-27.
[4]Lee Tae-Young,Shim Jae-Kyung. Forward Ki-nematics of the General 6-6 Stewart Platform Using Algebraic Elimination Original Research Ar-ticle[J].Mechanism and Machine Theory,2001,(09):1073-1085.doi:10.1016/S0094-114X(01)00034-9.
[5]Masouleh M T,Gosselin C,Husty M. For-ward Kinematic Problem of 5-RPUR Parallel Mechanisms(3T2R)with Identical Limb Struc-tures[J].Mechanism and Machine Theory,2011,(07):1-15.
[6]张世辉[1],孔令富[1],原福永[1],刘大为[1].基于自构形快速BP网络的并联机器人位置正解方法研究[J].机器人,2004,26(4):314-319.
[7]Parikh P J,Lam S S Y. A Hybrid Strategy to Solve the Forward Kinematics Problem in Parallel Manip-ulators[J].IEEE Transactions on Robotics,2005,(01):18-25.
[8]Jamwal P K,Xie Shengquan,Kean C A. Kinematic Design Optimization of a Parallel Ankle Rehabilita-tion Robot Using Modified Genetic Algorithm[J].Robotics and Autonomous Systems,2009,(10):1018-1027.
[9]贺利乐 [1],刘宏昭 [2],王朋 [3],段志善 [3].基于改进遗传算法的六自由度并联机器人位置正解研究[J].应用科学学报,2005,23(5):522-525.
[10]Montalvo I,Izauierdo J,Perez R. Particle Swarm Optimization Applied to the Design of Wa-ter Supply Systems[J].Computers and Mathe-matics with Applications,2008,(03):769-776.
[11]车林仙[1],何兵[2],易建[2],陈长忆[3],罗佑新[4].对称结构Stewart机构位置正解的改进粒子群算法[J].农业机械学报,2008,39(10):158-163.
[12]李晓磊 [1],路飞 [1],田国会 [1],钱积新 [2].组合优化问题的人工鱼群算法应用[J].山东大学学报：工学版,2004,34(5):64-67.
[13]Ravinda K,Ahuj A,Ozlem E. A Survey of Very Large-scale Neighborhood Search Tech-niques[J].Discrete Applied Mathematics,2002,(1/3):75-102.
[14]张秋亮.鱼群算法在配电网规划中的应用研究 [D].华北电力大学(保定),2008:
[15]高玉芳[1],张展羽[2].混沌人工鱼群算法及其在灌区优化配水中的应用[J].农业工程学报,2007,23(6):7-11.
[16]刘彦君.鱼群算法及在无线传感器网络覆盖优化中的应用 [D].山东大学,2009:
[17]张赫[1],徐玉如[1],万磊[1],唐旭东[1],蔡昊鹏[1].水下退化图像处理方法[J].天津大学学报,2010,43(9):827-833.
[18]Lacagnina M,Muscato G,Sinatra R. Kinematics,Dynamics and Control of a Hybrid Robot Wheeleg[J].Robotics and Autonomous Systems,2003.161-180.
[19]Chen Li,Ma Shugen,Wang Yuechao. De-sign and Modelling of a Snake Robot in Traveling Wave Locomotion[J].Mechanism and Machine Theory,2007,(12):1632-1642.doi:10.1016/j.mechmachtheory.2006.12.003.
[20]Ha Taesin,Choi Chong-Ho. An Effective Traj-ectory Generation Method for Bipedal Walking[J].Robotics and Autonomous Systems,2007,(10):795-810.