杨辉,郝丽娜,项超群.并联机构正运动学AWPSO—SM求解算法[J].农业机械学报,2017,48(1):346-352,412.
YANG Hui,HAO Li’na,XIANG Chaoqun.AWPSO—SM Algorithm for Parallel Mechanism Forward Kinematics[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(1):346-352,412.
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并联机构正运动学AWPSO—SM求解算法   [下载全文]
AWPSO—SM Algorithm for Parallel Mechanism Forward Kinematics   [Download Pdf][in English]
投稿时间:2016-05-23  
DOI:10.6041/j.issn.1000-1298.2017.01.046
中文关键词:  并联机构  正运动学  自适应权重粒子群—弦截法
基金项目:国家自然科学基金面上项目(61573093)和国家高技术研究发展计划(863计划)项目(2015AA042302)
作者单位
杨辉 东北大学 
郝丽娜 东北大学 
项超群 东北大学 
中文摘要: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。
YANG Hui  HAO Li’na  XIANG Chaoqun
Northeastern University,Northeastern University and Northeastern University
Key Words:parallel mechanism  forward kinematics  AWPSO—SM
Abstract: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 the 3—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.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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