摘要
通过将数值迭代算法与智能优化算法相结合,提出并联机构正运动学问题的通用求解算法——自适应权重粒子群-弦截法(AWPSO-SM)算法,并针对3-UCU(U为万向副,C为圆柱副)并联机构给出AWPSO-SM的详细求解过程。为了验证所提算法的有效性,在Matlab环境下,分别给出3-UCU、3-PPR(P为移动副,R为转动副)以及4-SPS(S为球副)3种典型并联机构正运动学问题的求解算例,并分别与AWPSO和弦截法的求解结果进行对比。由仿真结果可知,AWPSO-SM克服了单一方法在局部收敛性和初值选取方面对计算结果的影响,可有效地对并联机构的正运动学问题进行求解。
By a combination of the numerical iteration method and the intelligent optimization algorithm,the adaptive weight particle swam optimization with secant method（ AWPSO-SM） was presented which was applied for solving the parallel mechanism forward kinematics problems. Then,the 3-UCU（ U is universal pair,C is cylindrical pair） parallel mechanism was treated as the research object,and then the detailed solving process of AWPSO-SM was given,namely,the inverse kinematics model of 3-UCU parallel mechanism was established firstly; based on the model,the iterated function and fitness function was designed, and then the forward kinematics of the 3-UCU parallel mechanism was solved by AWPSO-SM. Finally,the effectiveness and accuracy of AWPSO-SM was verified via several numerical examples of 3-UCU parallel mechanism,3-PPR（ P is prismatic pair,R is revolute joint） parallel mechanism and 4-SPS（ S is spherical joint） parallel mechanism which were the typical parallel mechanisms in Matlab environment. From simulation results,AWPSO-SM avoids the effects of the local convergence and the initial value on the calculation results,and could solve the forward kinematics of the3-UCU parallel mechanism effectively. Moreover,AWPSO-SM avoids the complicated derivation process and has simple calculating process. AWPSO-SM has better accuracy with little iteration times and universality than AWPSO and secant method.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2017年第1期346-352,412,共8页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金面上项目(61573093)
国家高技术研究发展计划(863计划)项目(2015AA042302)
