Solving of the Workspace Boundary of Planar Parallel Mechanism based Modified PSO Algorithm

Ji Fangfang Zhao Xin

doi:10.16578/j.issn.1004.2539.2019.12.005

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Solving of the Workspace Boundary of Planar Parallel Mechanism based Modified PSO Algorithm

Theory·Reserach | 更新时间：2022-10-25

- Solving of the Workspace Boundary of Planar Parallel Mechanism based Modified PSO Algorithm
- Journal of Mechanical Transmission Vol. 43, Issue 12, Pages: 28-33(2019)
- 作者机构：
  
  1.唐山师范学院物理系，河北唐山 063000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.12.005
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姬芳芳,赵欣.基于改进粒子群算法的平面并联机构工作空间边界求解[J].机械传动,2019,43(12):28-33.

Ji Fangfang Zhao Xin.Solving of the Workspace Boundary of Planar Parallel Mechanism based Modified PSO Algorithm[J].Journal of Mechanical Transmission,2019,43(12):28-33.
姬芳芳,赵欣.基于改进粒子群算法的平面并联机构工作空间边界求解[J].机械传动,2019,43(12):28-33. DOI： 10.16578/j.issn.1004.2539.2019.12.005.

Ji Fangfang Zhao Xin.Solving of the Workspace Boundary of Planar Parallel Mechanism based Modified PSO Algorithm[J].Journal of Mechanical Transmission,2019,43(12):28-33. DOI： 10.16578/j.issn.1004.2539.2019.12.005.

摘要

提出了一种利用改进的粒子群优化算法（MPSO）确定平面并联机构工作空间边界的新方法。制定一个通用目标函数，在平面并联机构达到其极限点时给出最佳值。通过使用改进的粒子群优化算法找到这些点，可以构造出并联机械臂的工作空间边界。为了验证该方法的有效性，以3RRR平面并联机构为例，利用MPSO方法最优化求解，得到工作空间边界的映射；同时，研究了初始位置对工作空间搜索的影响。结果表明，初始点的选择是求解工作空间边界的关键，与离散化方法相比，MPSO搜索过程高效，所得工作空间边界点准确。

Abstract

A new method for determining the workspace boundary of planar parallel mechanism by using improved particle swarm optimization (MPSO) algorithm is proposed. A general objective function is formulated to give the best value that the planar parallel mechanism reaches its limit point. The workspace boundary of the parallel manipulator can be constructed by finding these points by using MPSO, the MPSO method is used to obtain the mapping of workspace boundary of 3RRR planar parallel mechanism in order to verify the effectiveness of this method. At the same time, the influence of initial position on workspace search is studied. The results show that the selection of initial point is the key to solving workspace boundary. Compared with discretization method, MPSO search process is more efficient and the obtained workspace boundary points are accurate.

关键词

粒子群算法并联机构工作空间有效性

Keywords

Particle swarm algorithmParallel mechanismWorkspaceEffectiveness

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