基于自适应遗传算法的3-PURU/S并联稳定平台运动学标定

doi:10.3901/JME.2025.09.264

机械工程学报 ›› 2025, Vol. 61 ›› Issue (9): 264-276.doi: 10.3901/JME.2025.09.264

• 机器人及机构学 • 上一篇

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基于自适应遗传算法的3-PURU/S并联稳定平台运动学标定

韩博^1,2, 贾子钊¹, 江源¹, 毛亚萌¹, 韩萌³, 姚建涛^1,2

1. 燕山大学机械工程学院秦皇岛 066004;
2. 燕山大学河北省并联机器人与机电系统实验室秦皇岛 066004;
3. 东北大学秦皇岛分校控制工程学院秦皇岛 066004

收稿日期:2024-05-21 修回日期:2024-08-19 发布日期:2025-06-12
通讯作者: 姚建涛,男,1980年出生,教授,博士研究生导师。主要研究方向为仿生软体机器人前沿技术及应用、机器人力传感器与触觉感知技术、并联机器人机构理论及装备。E-mail:jtyao@ysu.edu.cn E-mail:jtyao@ysu.edu.cn
作者简介:韩博,男,1992年出生,副教授,博士研究生导师。主要研究方向为空间可展机构、变形态机器人技术、特种装备机构设计与机电集成技术。E-mail:bohan@ysu.edu.cn
基金资助:
国家自然科学基金(52105035,62203094)、中央引导地方科技发展专项资金(236Z1801G)、河北省高等教育青年拔尖人才(BJK2024042)、河北省自然科学基金(E2021203109,F2023501021)和河北省研究生创新能力培养与支撑(CXZZBS2024053)资助项目。

Kinematics Calibration of 3-PURU/S Parallel Stabilized Platform Based on Adaptive Genetic Algorithm

HAN Bo^1,2, JIA Zizhao¹, JIANG Yuan¹, MAO Yameng¹, HAN Meng³, YAO Jiantao^1,2

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004;
3. School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004

Received:2024-05-21 Revised:2024-08-19 Published:2025-06-12

摘要/Abstract

摘要： 提出一种基于自适应遗传算法的并联机构运动学标定方法，以3-PURU/S并联稳定平台为研究对象对该方法展开研究。应用有限阶积分法建立机构正运动学模型，通过闭环矢量法建立机构误差模型，基于误差映射矩阵提出可观测性指标，通过禁忌搜索算法优化后的DETMAX算法求解最优测量位姿，采用自适应遗传算法作为误差参数辨识算法并进行数值仿真验证，结果表明运动学标定后机构动平台平均误差减小了80％以上，最后制作样机进行验证。仿真与标定试验结果证明了所提出的并联机构误差标定算法的有效性，运动学标定后动平台误差显著减小，为并联机构误差标定研究提供了借鉴。

关键词: 并联机构, 稳定平台, 正运动学, 运动学标定, 自适应遗传算法, 参数辨识

Abstract: A kinematics calibration method of parallel mechanism based on adaptive genetic algorithm is proposed, and the 3-PURU/S parallel stabilized platform is used as the research object. The forward kinematics model of the mechanism was established by using the finite-step-integration method. The geometric error model of the mechanism was established by using the closed-loop vector equation. The error sensitivity index was established based on the error mapping matrix. The DETMAX algorithm optimized by tabu search algorithm is used to find a set of optimal pose. Using adaptive genetic algorithm as error parameter identification algorithm, the numerical simulation of the mechanism is carried out. It is found that the average error is reduced by more than 80% after kinematic calibration. Finally, the prototype of the mechanism is made for experimental verification. The results of simulation and calibration experiments show that the error calibration algorithm of parallel mechanism proposed is effective, and the error of moving platform is greatly reduced after calibration, which provides a reference for the kinematics calibration research of parallel mechanism.

Key words: parallel mechanism, stabilized platform, forward kinematics, kinematic calibration, adaptive genetic algorithm, parameter identification

中图分类号:

TP242

韩博, 贾子钊, 江源, 毛亚萌, 韩萌, 姚建涛. 基于自适应遗传算法的3-PURU/S并联稳定平台运动学标定[J]. 机械工程学报, 2025, 61(9): 264-276.

HAN Bo, JIA Zizhao, JIANG Yuan, MAO Yameng, HAN Meng, YAO Jiantao. Kinematics Calibration of 3-PURU/S Parallel Stabilized Platform Based on Adaptive Genetic Algorithm[J]. Journal of Mechanical Engineering, 2025, 61(9): 264-276.

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基于自适应遗传算法的3-PURU/S并联稳定平台运动学标定

Kinematics Calibration of 3-PURU/S Parallel Stabilized Platform Based on Adaptive Genetic Algorithm

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