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应用科学学报 ›› 2005, Vol. 23 ›› Issue (5): 522-525.

• 论文 • 上一篇    下一篇

基于改进遗传算法的六自由度并联机器人位置正解研究

贺利乐1,2, 刘宏昭1, 王朋2, 段志善2   

  1. 1. 西安理工大学机仪学院, 陕西西安 710048;
    2. 西安建筑科技大学机电学院, 陕西西安 710055
  • 收稿日期:2004-06-06 修回日期:2005-01-10 出版日期:2005-09-30 发布日期:2005-09-30
  • 作者简介:贺利乐(1963-),男,陕西户县人,博士生,副教授,E-mail:2002HLL@sohu.com;刘宏昭(1954-),男,陕西代县人,教授,博导,E-mail:liu-Hongzhao@163.com

Forward Kinematics Based on Improved Genetic Algorithms of 6-DOF Parallel Robot

HE Li-le1,2, LIU Hong-zhao1, WANG Peng2, DUAN Zhi-shan2   

  1. 1. School of Mechinery and Precision Instrument Engineering, Xi'an University of Science and Technology, Xi'an 710048, China;
    2. School of Mechinery and Electrical Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China
  • Received:2004-06-06 Revised:2005-01-10 Online:2005-09-30 Published:2005-09-30

PDF

52

被引次数

36

摘要： 将并联机器人运动学位置正解转化为求解一组多元非线性方程的优化问题,提出了改进遗传算法进行优化求解,依靠计算灰色关联度对求解结果进行分组的方法,并通过实例计算得到了3-6结构6自由度Stewart平台并联机器人的7组实解.研究结果表明该方法简单方便,求解精度高且具有通用性.

关键词: 运动学正解, 并联机器人, 改进遗传算法

Abstract: The problem of forward kinematics is treated as optimization of multi-variable nonlinear equation group in this paper.Improved genetic algorithms are used to obtain optimum values, and a new grouping method is presented based on gray relative analysis.Seven groups of real values of the 6-DOF Stewart parallel platform are provided as examples.It is proved that the proposed method is simple, effective and useful in solving forward kinematics problems for parallel robots.

Key words: improved genetic algorithms, forward kinematics, parallel robot

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