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《China Mechanical Engineering》 2015-06
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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
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