• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2010, Vol. 46 ›› Issue (23): 36-44.

• 论文 • 上一篇    下一篇

扫码分享

4-PRUR并联机构及其位置分析的差分进化算法

车林仙;程志红;何兵   

  1. 中国矿业大学机电工程学院;泸州职业技术学院机械工程系
  • 发布日期:2010-12-05

4-PRUR Parallel Mechanism and Its Displacement Analysis Based on Differential Evolution Algorithm

CHE Linxian;CHENG Zhihong;HE Bing   

  1. School of Mechanical and Electrical Engineering, China University of Mining and Technology Department of Mechanical Engineering, Luzhou Vocational and Technical College
  • Published:2010-12-05

PDF

213

摘要： 给出1移动3转动(1T3R)对称4-DOF空间4-PRUR并联机构的几何模型，应用螺旋理论分析机构实现1T3R的原理，并讨论输入选取的合理性。根据杆长约束条件，建立机构位置分析的非线性方程组。为改进差分进化算法(Differential evolution, DE)的寻优效率，提出一种基于混沌迁移、最优个体加权处理和群体逃逸策略的自适应双种群差分进化算法(Adaptive differential evolution algorithm with double subpopulations, ADEDS)。将机构位置分析中非线性方程组的求解转化为无约束优化模型，并应用ADEDS求解该问题。数值实例表明，ADEDS能求出并联机构的多组高精度位置正解，并通过位置反解验证位置正解的正确性。

关键词: 并联机构, 差分进化算法, 螺旋理论, 双种群, 位置分析, 自适应策略

Abstract: The geometrical model is presented to describe the spatial and symmetrical 4-PRUR parallel mechanism which is intended to provide four degrees of freedom with one translation and three rotations (1T3R). The screw theory is employed to analyze the principles that this mechanism can perform the above motions and discuss the rationality of chosen input pairs. The link-length of the mechanism is regarded as the restrictive condition to obtain nonlinear equations (NLEs) for its displacement analysis. To improve the global searching ability and convergence speed of differential evolution (DE) algorithm, an adaptive DE with double subpopulations (ADEDS) algorithm is proposed, in which chaotic migration, weighted best individuals, and escaping strategies of the whole population are gradually self-adapted by learning from their previous experiences. Consequently, the NLEs are transformed to unconstrained optimizations (UOs) which can be solved by the ADEDS algorithm. The results of numerical verification show that, through the ADEDS algorithm, forward solutions can be precisely found that are very coincident with the inverse ones.

Key words: Adaptive strategy, Differential evolution algorithm, Displacement analysis, Double subpopulations, Parallel mechanism, Screw theory

中图分类号: 

版权所有 © 2019 《机械工程学报》编辑部 | 京ICP备05055788号-30