平面并联机构位置正解的改进粒子群算法
The unconstrained optimization model for the forward positional analysis of a 3-RPR planar parallel manipulator, which is based on the constrained length of the bars, is presented. The simple particle swarm optimization （SPSO） has some demerits, such as relapsing into local extremum and slow converg...
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| Main Author: | |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2008-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2008.02.020 |
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| Summary: | The unconstrained optimization model for the forward positional analysis of a 3-RPR planar parallel manipulator, which is based on the constrained length of the bars, is presented. The simple particle swarm optimization （SPSO） has some demerits, such as relapsing into local extremum and slow convergence velocity in the late evolutionary. The improved PSO, adaptive mutation PSO （AMPSO）, based on the new difference index, is proposed to overcome the demerits of the SPSO. The adaptive mutation PSO （AMPSO） is given out to make the optimal problem for forward positional analysis of parallel mechanisms. Numerical results for the forward position analysis of 3-RPR planar parallel manipulator show that the AMPSO can solve to all assembly configurations, and possesses the performances of rather quick convergence speed and high precision. |
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| ISSN: | 1004-2539 |