| 张伟,高洪,陈玉,钱炳南.基于改进粒子群算法的3-RPS并联机构正解研究[J].井冈山大学自然版,2016,(4):63-67 |
| 基于改进粒子群算法的3-RPS并联机构正解研究 |
| FORWARD KINEMATICS STUDY OF 3-RPS PARALLEL MECHANISM BASED ON IMPROVED PARTICLE SWARM OPTIMIZATION |
| 投稿时间：2015-10-17 修订日期：2016-01-06 |
| DOI：10.3969/j.issn.1674-8085.2016.04.013 |
| 中文关键词: 改进粒子群算法 并联机构 运动学正解 RPS |
| 英文关键词: Improved particle swarm optimization parallel mechanism forward kinematics RPS |
| 基金项目:安徽省自然科学基金项目（1308085ME78）；2015年安徽省科技攻关计划项目（150102060） |
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| 中文摘要: |
| 为快速准确求解3-RPS并联机构运动学正解，将其化归为非线性方程组求解问题，又基于优化理论将其转化成多目标优化问题，并以加权法将多目标问题转化为单目标优化问题，最后采用改进粒子群算法进行数值求解，最后给出了算例。仿真结果表明：该方法适用于求解并联机构的正解问题，其收敛速度和计算精度较标准PSO算法有明显改善。 |
| 英文摘要: |
| In order to solve the problem of parallel mechanism forward kinematics quickly and accurately, we proposed a method that translated it into the problem of nonlinear equations. Furthermore, we translated it into a multi-objective optimization problem based on optimization theory. The weighting method is proposed to translate the multi-objective problem into a single objective optimization problem. An improved particle swarm optimization algorithm was put forward to solve the above optimization model. Finally, a numerical example is given. Simulation results show that the method is suitable for solving the parallel mechanism forward kinematics, and convergence speed and accuracy of calculation of the method are significantly improved compared with the standard PSO algorithm. |
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