Social Cognitive Optimization Algorithm for Approximate Path Generation Synthesis of Spherical 4R Linkage

Che Linxian; Huang Yonggang; Du Li

doi:10.16578/j.issn.1004.2539.2020.02.007

您当前的位置：

首页 >

文章列表页 >

Social Cognitive Optimization Algorithm for Approximate Path Generation Synthesis of Spherical 4R Linkage

Design· Calculation | 更新时间：2022-10-25

- Social Cognitive Optimization Algorithm for Approximate Path Generation Synthesis of Spherical 4R Linkage
- Journal of Mechanical Transmission Vol. 44, Issue 2, Pages: 42-54(2020)
- 作者机构：
  
  1.重庆工程职业技术学院智能制造与交通学院，重庆 402260
  2.重庆工商大学制造装备机构设计与控制重庆市重点实验室，重庆 400067
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.02.007
  CLC：
扫描看全文
车林仙,黄勇刚,杜力.球面4R机构近似轨迹综合的社会认知优化算法[J].机械传动,2020,44(02):42-54.

Che Linxian,Huang Yonggang,Du Li.Social Cognitive Optimization Algorithm for Approximate Path Generation Synthesis of Spherical 4R Linkage[J].Journal of Mechanical Transmission,2020,44(02):42-54.
车林仙,黄勇刚,杜力.球面4R机构近似轨迹综合的社会认知优化算法[J].机械传动,2020,44(02):42-54. DOI： 10.16578/j.issn.1004.2539.2020.02.007.

Che Linxian,Huang Yonggang,Du Li.Social Cognitive Optimization Algorithm for Approximate Path Generation Synthesis of Spherical 4R Linkage[J].Journal of Mechanical Transmission,2020,44(02):42-54. DOI： 10.16578/j.issn.1004.2539.2020.02.007.

摘要

应用坐标变换原理，推导出球面4R机构连杆点轨迹参数方程。在此基础上，以轨迹误差平方和最小为目标函数，以曲柄存在、杆长协调和传动角限制等为约束条件，建立机构不带预定时标近似轨迹综合的约束优化模型。结合自适应罚函数法，应用社会认知优化（Social Cognitive Optimization，SCO）算法求解该问题。为提高SCO算法的收敛精度和速度，以差分进化（Differential Evolution，DE）操作为邻域搜索算子，设计一种加速社会认知优化（Accelerating Social Cognitive Optimization，ASCO）算法。给出机构综合实例，轨迹分析结果表明，所建立的模型和提出的ASCO算法可行有效。比较了基本SCO、DE和ASCO算法求解该机构综合实例的优化性能，数值实验显示，ASCO算法的收敛速度、收敛精度和稳健性等性能指标优于基本SCO和DE算法。

Abstract

Using the coordinate transformation principle，the parametric equation for the trajectory generated is derived by the coupler point of spherical 4R linkage. On this basis，a constrained optimization model is constructed to formulate the approximate synthesis problem of spherical 4R linkage for the path generation without prescribed timing. The model takes the minimizing sum of squares for path errors as the objective function， and the existing crank，length coordination，and transmission angle restriction as the constraints. Combining the self-adaptive penalty function method，this study employs the social cognitive optimization (SCO) algorithm to solve the aforementioned problem. In order to enhance the convergence speed and accuracy of SCO algorithm，a novel accelerating social cognitive optimization (ASCO) algorithm is proposed in which the differential evolution (DE) operators are used to local search. Numerical examples of mechanism synthesis are given，and trajectory analysis results show that the established model and presented ASCO algorithm are feasible and effective. Furthermore，comparative tests on computational performance to address the examples are implemented with SCO，DE，and ASCO algorithm，and the numerical experiments indicate that ASCO outperforms SCO and DE in terms of robustness，convergence speed and accuracy.

关键词

球面4R机构轨迹综合约束优化设计社会认知优化算法差分进化算法

Keywords

Spherical 4R linkageGenerated path synthesisConstrained optimization designSocial cognitive optimization algorithmDifferential evolution algorithm

references

MCDONALD M，AGRAWAL S K.Design of a bio-inspired spherical four-bar mechanism for flapping-wing micro air-vehicle applications[J].Journal of Mechanisms and Robotics，2010，2（2）：1-6.

LI Xiangyun，ZHAO Ping，PURWAR A，et al.A unified approach to exact and approximate motion synthesis of spherical four-bar linkages via kinematic mapping[J].Journal of Mechanisms and Robotics，2018，10（1）：011003.1-011003.10.

BOWEN L A，BAXTER W L，MAGLEBY S P，et al.A position analysis of coupled spherical mechanisms found in action origami[J].Mechanism and Machine Theory，2014，77：13-24.

CHEN Y，PENG R，YOU Z.Origami of thick panels[J].Science，2015，349：396-400.

ZHANG X，CHEN Y.Mobile assemblies of bennett linkages from four-crease origami patterns[J].Proceedings of the Royal Society A：Mathematical Physical and Engineering Sciences，2018，474：20170621.1-20170621.17.

DAI J S，WANG D L.Geometric analysis and synthesis of the metamorphic robotic hand[J].Journal of Mechanical Design，2007，129（11）：1191-1197.

CUI L，DAI J S.Posture，workspace，and manipulability of the metamorphic multifingered hand with an articulated palm[J].Journal of Mechanisms and Robotics，2011，3（2）：021001.1- 021001.7.

CHANEKAR P V，FENELON M A A，GHOSAL A.Synthesis of adjustable spherical four-link mechanisms for approximate multi-path generation[J].Mechanism and Machine Theory，2013，70：538-552.

孙建伟，褚金奎.用快速傅里叶变换进行球面四杆机构连杆轨迹综合[J].机械工程学报，2008，44（7）：32-37.

SUN Jianwei，CHU Jinkui.Synthesis of coupler curves of spherical four-bar mechanism through fast Fourier transform [J].Chinese Journal of Mechanical Engineering，2008，44（7）：32-37.

CHU J K，SUN J W.Numerical atlas method for path generation of spherical four-bar mechanism[J].Mechanism and Machine Theory，2010，45（6）：867-879.

MULLINEUX G.Atlas of spherical four-bar mechanisms[J].Mechanism and Machine Theory，2011，46（11）：1811-1823.

SUN J W，LIU W R，CHU J K.Synthesis of spherical four-bar linkage for open path generation using wavelet feature parameters[J].Mechanism and Machine Theory，2018，128：33-46.

PEÑUÑURI F，PEÓN-ESCALANTE R，VILLANUEVA C，et al.Synthesis of spherical 4R mechanism for path generation using differential evolution[J].Mechanism and Machine Theory，2012，57（2）：62-70.

车林仙，杜力，黄勇刚.球面四杆机构函数综合的带修复策略可行性规则差分进化算法[J].机械工程学报，2015，51（11）：31-40.

CHE Linxian，DU Li，HUANG Yonggang.Feasibility-rule- based differential evolution algorithm with repair strategies for function synthesis of spherical four-bar linkages[J].Journal of Mechanical Engineering，2015，51（11）：31-40.

ACHARYYA S K，MANDAL M.Performance of EAs for four-bar linkage synthesis[J].Mechanism and Machine Theory，2009，44 （9）：1784-1794.

CABRERA J A，ORTIZ A，NADAL F，et al.An evolutionary algorithm for path synthesis of mechanisms[J].Mechanism and Machine Theory，2011，46（2）：127-141.

BULATOVIĆ R R，MIODRAGOVIĆ G，BOŠKOVIĆ M S.Modified Krill Herd （MKH）algorithm and its application in dimensional synthesis of a four-bar linkage[J].Mechanism and Machine Theory，2016，95：1-21.

SINGH R，CHAUDHARY H，SINGH A K.Defect-free optimal synthesis of crank-rocker linkage using nature-inspired optimization algorithms[J].Mechanism and Machine Theory，2017（116）：105-122.

LIN W Y，HSIAO K M.A new differential evolution algorithm with a combined mutation strategy for optimum synthesis of path-generating four-bar mechanisms[J].Proceedings of the Institution of Mechanical Engineers，Part C：Journal of Mechanical Engineering Science，2017，231（14）：2690-2705.

LIN Wenyi，HSIAO Kuomo.Cuckoo search and teaching-learning- based optimization algorithms for optimum synthesis of path-generating four-bar mechanisms[J].Journal of the Chinese Institute of Engineers，2017，40（1）：66-74.

ZHANG K，HUANG Q J，ZHANG Y M，et al.Hybrid lagrange interpolation differential evolution algorithm for path synthesis[J].Mechanism and Machine Theory，2019，134：512-540.

XIE Xiaofeng，ZHANG Wenjun.Solving engineering design problems by social cognitive optimization[C]//Proceedings of Genetic and Evolutionary Computation Conference （GECCO’04），June26-30，2004，Seattle，Washington，USA.Berlin：Springer-Verlag，2004,3102：261-262.

陈彦萍，张建科，孙家泽，等.一种基于混合智能优化的服务选择模型[J].计算机学报，2010，33（11）：2116-2125.

CHEN Yanping，ZHANG Jianke，SUN Jiaze，et al.A service selection model using mixed intelligent optimization[J].Chinese Journal of Computers，2010，33（11）：2116-2125.

DAI J S.Euler-rodrigues formula variations，quaternion conjugation and intrinsic connections[J].Mechanism and Machine Theory，2015，92：144-152.

LIN Wenyi.Discussion on the constraint for circuit defect rectification for the paper by singh et al：defect-free optimal synthesis of crank-rocker linkage using nature-inspired optimization algorithms[J].Mechanism and Machine Theory，2017，116：465-466.

车林仙，程志红.工程约束优化的自适应罚函数混合离散差分进化算法[J].机械工程学报，2011，47（3）：141-151.

CHE Linxian，CHENG Zhihong.Hybrid discrete differential evolution with a self-adaptive penalty function for constrained engineering optimization[J].Journal of Mechanical Engineering，2011，47（3）：141-151.

DAS S，MULLICK S S，SUGANTHAN P N.Recent advances in differential evolution-an updated survey[J].Swarm and Evolutionary Computation，2016，27：1-30.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

⁰