| 平面并联机构位置正解的粒子群复形法 |
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| 引用本文： | 车晓毅,何哲明,罗佑新.平面并联机构位置正解的粒子群复形法[J].机械设计,2009,26(3). |
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| 作者姓名： | 车晓毅 何哲明 罗佑新 |
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| 作者单位： | 湖南文理学院机械工程系,湖南,常德,415000 |
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| 基金项目： | 国家自然科学基金，湖南省重点建设学科资助项目，湖南省自然科学基金，湖南科技厅计划项目 |
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| 摘 要： | 根据杆长约束条件,给出了求解3-RPR平面并联机构位置正解的无约束优化模型.结合复形法与粒子群的优点,提出了机构综合方程无约束优化求解的粒子群复形法.该方法克服了牛顿法初值不易选择的问题,同时也克服了复形法和粒子群算法易陷入局部极值而导致方程组的解精度不足的问题.平面并联机构数值实例表明文中提出的方法能求出全部装配构型.该方法具有全局搜索性,收敛速度较快、精度较高.可以满意地求出对未知数具有敏感性的非线性方程组的解.
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| 关 键 词： | 3-RPR平面并联机构 位置正解 粒子群算法 复形法 |
Complex particle swarm algorithm for the positional forward solution of planar parallel robot |
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| CHE Xiao-yi,HE Zhe-ming,LUO You-xin.Complex particle swarm algorithm for the positional forward solution of planar parallel robot[J].Journal of Machine Design,2009,26(3). |
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| Authors: | CHE Xiao-yi HE Zhe-ming LUO You-xin |
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| Affiliation: | Department of Mechanical Engineering;Hunan University of Arts & Science;Changde 415000;China |
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| Abstract: | In accordance with the constraint conditions of rod lengths,the optimization model without constraints for solving the positional forward solution of 3-RPR planar parallel mechanism was presented.With the advantages of combining the complex method with particle swarm algorithm,the complex particle swarm algorithm of the constraint-less optimization solution for the synthetic equation of mechanism was presented.This method overcame the problem of difficult to choose the initial value of Newton method and at ... |
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| Keywords: | 3-RPR planar parallel mechanism positional positive solution particle swarm algorithm complex method |
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