基于连续蚁群算法的3-RPS并联机构正解

为了避免传统数值方法求解并联机构正解问题的弊端,提出了一种将并联机构正解问题转化为目标函数优化问题的求解方法。并联机构正解的核心问题是求解一组多元耦合非线性方程组,以此为依据建立了并联机构正解的目标函数优化模型,并提出了一种简单的连续蚁群算法来求解该优化模型。以求解3-RPS并联机构正解为例进行了仿真分析。结果表明,该算法具有良好的全局寻优功能，能够避免初始值和局部极小值对计算结果的影响，不用计算雅可比矩阵及其逆阵，且计算精度满足并联机构正解的要求。

Forward Kinematics of 3-RPS Parallel Mechanism Based on a Continuous Ant Colony Algorithm

In order to avoid the drawbacks of traditional numerical methods for solving the problem of parallel mechanism forward kinematics, this paper proposed a method that translated the problem of solving parallel mechanism forward kinematics into objective function optimization problems. The central issue of solving the problem of parallel mechanism forward kinematics  was to solve a set of multiple coupled nonlinear equations, thus objective function optimization model of parallel mechanism forward kinematics was established, and a kind of simple continuous ant colony algorithm was put forward to solve the above optimization model. Taking the 3-RPS parallel mechanism for example, some simulation analyses were completed. The results show that the algorithm has a good global optimization function and can avoid initial values and the local minimum effect on the calculation results without calculating Jacobian matrix and its inverse matrix. The accuracy of calculation meets the requirements of parallel mechanism of forward kinematics.