中文

Journal of Applied Sciences ›› 2005, Vol. 23 ›› Issue (5): 522-525.

• Articles • Previous Articles     Next Articles

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

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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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