Abstract: Aiming at the singularity analysis of the Stewart platform, the determinant of the Jacobian matrix was selected as the objective function, and the continuous optimization problem was proposed in the work space of parallel machine. By improving global searching, local searching and pheromone update rule, the novel ant colony algorithm had been presented for solving the continuous optimization problem. Then this method was applied to the singularity analysis of the Stewart platform. The results show that the improved algorithm has good ability of global optimization and fast convergence. This novel ant colony algorithm provides valuable reference for the problem like the singularity analysis of the parallel machine.

Key words: singularity analysis, Stewart platform, ant colony algorithm, continuous optimization

摘要：

针对Stewart平台的奇异性分析，以雅可比矩阵行列式为目标函数，将奇异性分析问题转化为在并联机构可达工作空间内的连续优化问题。通过对基本蚁群算法中的全局搜索、局部搜索以及信息素更新规则等环节进行有效的调整，构成了更加适用于连续优化问题求解的改进蚁群算法。采用该算法进行了Stewart平台的奇异性分析，结果证实了改进蚁群算法具有较好的全局优化能力和较快的收敛速度，从而为解决并联机构奇异性分析这一类问题提供了有价值的参考。

关键词: 奇异性分析, Stewart平台, 蚁群算法, 连续优化