Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《China Mechanical Engineering》 2015-06
Add to Favorite Get Latest Update

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

Xie Zhijiang;Liang Huan;Song Daiping;The State Key Laboratory of Mechanical Transmission,Chongqing University;  
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.
【Fund】: 国家自然科学基金资助项目(51105392);; 重庆市自然科学基金资助项目(cstc2011jj A70006);; 中央高校基本科研业务费专项资金资助项目(CDJRC10110005)
【CateGory Index】: TP18;TH112
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【Citations】
Chinese Journal Full-text Database 3 Hits
1 CHENG Shili1 WU Hongtao1 YAO Yu1 LIU Fanghua2 MIAO Qunhua1 LI Chenggang1 ZHU Jianying1 (1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016; 2. School of Mechanical Engineering, Jiangsu University of Science & Technology, Zhenjiang 212003);An Analytical Method for the Forward Kinematics Analysis of 6-SPS Parallel Mechanisms[J];Journal of Mechanical Engineering;2010-09
2 Han Fangyuan Zhao Dingxuan Li Tianyu(College of Mechanical Science and Engineering,Jilin University,Changchun 130025,China);A Fast Forward Algorithm for 3-RPS Parallel Mechanism[J];Transactions of the Chinese Society for Agricultural Machinery;2011-04
3 SHEN Xuan-jing1,2,LIU Yang-yang1,2,HUANG Yong-ping1,2,XU Tie3,He Xi-wen1(1.College of Computer Science and Technology,Jilin University,Changchun 130012,China;2.Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education,Jilin University,Changchun 130012,China;3.Taohe Farm,Jilin Oil Refco Group Ltd,Songyuan 138000,China);Fast ant colony algorithm for solving traveling salesman problem[J];Journal of Jilin University(Engineering and Technology Edition);2013-01
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 JIN Hao,LIU Weining School of Civil Engineering,Beijing Jiaotong University,Beijing 100044,China;Ant colony algorithm for continuous function based on foraging-homing mechanism[J];Computer Engineering and Applications;2012-01
2 MA Wei1,ZHU Xian2,ZHU Qing-bao3 ( 1. Dept. of Engineering Technology,Nanjing Institute of Tourism & Hospitality,Nanjing 211100,China; 2. Dept. of Computer,Zijin College,Nanjing University of Science & Technology,Nanjing 210046,China; 3. School of Computer Science & Technology,Nanjing Normal University,Nanjing 210097,China);Hybridized continuous ant colony optimization algorithm for solving function optimization problems[J];Application Research of Computers;2010-10
3 XIE Zhi-jiang,SHI Hao-ming(The State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China);Inverse positions solution and kinematics optimal design based on a 6-HUS parallel mechanism[J];Journal of Machine Design;2011-12
4 FANG Xifeng1 ZHAO Ruoyu1 WU Hongtao2 MIAO Qunhua2 WANG Tongyue3 LIU Yuanwei3 (1.Institute of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003; 2.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016; 3.Key Laboratory of Jiangsu Province for Numeric Manufacturing Technology,Huaiyin Institute of Technology,Huaian 223001);Forward Kinematics Analysis of 6-UPS Parallel Machine Tool with Cross Rod[J];Journal of Mechanical Engineering;2012-13
5 Yu Qikai1,2 You Youpeng1 Han Jiangyi3 (1.Jiangsu Provincial Key Laboratory of Precision and Micro-manufacturing Technology, Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China 2.Mechanical Department,Nanjing College of Chemical Technology,Nanjing 210048,China 3.School of Automobile and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China);Position Analysis of 3-U~rSR Parallel Mechanism with 6-DOF[J];Transactions of the Chinese Society for Agricultural Machinery;2011-12
6 Fang Lifeng 1 Liu Anxin 1 Yang Tingli 2 Chang Xing 1 Wu Guanghua 1 Li Yong 1(1.Engineering Institute of Engineering,PLA University of Science and Technology,Nanjing 210007,China 2.SINOPEC Jinling Petrochemical Corporation,Nanjing 210042,China);Topology Structure Design of 1T-2R Parallel Stable Platform[J];Transactions of the Chinese Society for Agricultural Machinery;2012-02
7 Zhang Yanbin 1 Zhang Shuqian 2 Wu Xin 2(1.School of Planning and Architectural Engineering,Henan University of Science and Technology,Luoyang 471003,China 2.School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang 471003,China);Kinematic Analysis and Simulation of 3-CRPa Translational Parallel Mechanism[J];Transactions of the Chinese Society for Agricultural Machinery;2012-07
8 Gao Dongming Wang Decheng Wang Guanghui Sun Jie Ma Xiaogang Fu Zuoli(College of Engineering,China Agricultural University,Beijing 100083,China);Self-wrapping Net Mechanism for Round Baler[J];Transactions of the Chinese Society for Agricultural Machinery;2012-08
9 Mei Jiangping Gao Ben Tan Yang Wang Lan(School of Mechanical Engineering,Tianjin University,Tianjin 300072,China);Kinematic Analysis of 3-S PR Parallel Mechanism[J];Transactions of the Chinese Society for Agricultural Machinery;2012-08
10 DAI Wen-wei,WU Hong-tao,Yang Xiao-long(Nanjing University of Aeronautics and Astronautics,Jiangsu Nanjing,210016,China);Numerical Method for Forward Kinematics of 6-3 Stewart Platform Parallel Manipulator[J];Manufacture Information Engineering of China;2012-17
【Secondary Citations】
Chinese Journal Full-text Database 10 Hits
1 Hai-bin Duan,Xiang-yin Zhang,Jiang Wu,Guan-jun MaSchool of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,P.R.China;Max-Min Adaptive Ant Colony Optimization Approach to Multi-UAVs Coordinated Trajectory Replanning in Dynamic and Uncertain Environments[J];仿生工程学报(英文版);2009-02
2 Yang Yong-gang,Zhao Jie,Liu Yu-bin,Zhu Yan-he(School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China);Solving forward kinematics of 6-PRRS parallel robot[J];Journal of Jilin University(Engineering and Technology Edition);2008-03
3 ZHANG Ji-you~1,YUAN Fu-yong~2,LIU Da-wei~2,ZHANG Yu-lian~2 (1.Hebei Architecture Material Institute , Qinhuangdao Hebei 066004,China; 2.Yanshan University, Qinhuangdao Hebei 066004,China);Solution for Forward Kinematics of 3-DOF-Parallel-Robot Based on Neural Network[J];Computer Simulation;2004-10
4 GUAN Xue-feng1,GUO Cheng2,HU Ming2 (1Shenyang Radio and TV University,Shenyang 110003,China) (2Northeastern University,Shenyang 110004,China);PLC control to 3-PTT parallel machine tool with slider[J];Machinery Design & Manufacture;2009-05
5 Liu Anxin 1 Yang Tingli ( 1Engineering Institute of Engineer Corps, Nanjing 210007);Finding All Solutions to Forward Displacement Analysis Problem of 6 SPS Parallel Robot Mechanism[J];MECHANICAL SCIENCE AND TECHNOLOGY;1996-04
6 WANG Jin-ge1, FAN Li-hua1, HU Li-ju2 (1. School of Mechanical Engineering and automation, Xihua University, Chengdu 610039, China; 2. Sichuan University, Chengdu 610065, China);Positional forward solution and numeric-symbolic solution of singular configuration analysis for 3-RPS parallel platform mechanism[J];Journal of Machine Design;2005-05
7 GAO Zheng1 GAO Feng2 (1. College of Electronic and Information Engineering, Hebei University, Baoding 071002; 2. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240);FORWARD POSITION ANALYSIS OF 6-DOF 3-U~rRS PARALLEL MECHANISM[J];Chinese Journal of Mechanical Engineering;2007-12
8 LIU Dawei WANG Liping GUAN Liwen (Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084);Accuracy Analysis and Calibration of a Special 3-DOF Parallel Mechanism[J];Journal of Mechanical Engineering;2010-09
9 Zhang Yanbin1,2 Liu Hongzhao1 Wu Xin2 Mu Anle1(1.Xi'an University of Technology 2.He'nan University of Science and Technology);Kinematics and Singularity Analysis of a Novel Weakly-coupled Parallel Manipulator[J];Transactions of the Chinese Society for Agricultural Machinery;2008-04
10 MEI Fan,ZHAO Xin-hua (School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300384,China);Accuracy analysis of 3-DOF parallel manipulator[J];Journal of Tianjin University of Technology;2010-04
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved