应用改进蚁群算法的月壤采样试验机构运动学优化

Forward Kinematics of Mechanism for Lunar Soil Sampling Test Based on Improved Ant Colony Algorithm

为了使探月工程采样封装模拟试验能得到更加准确的数据,需要对试验装置3-UPS/PU的控制非常精确,因此针对该机构提出了一种精度很高的运动学正解算法,将求解正解方程组转化为求解最小值问题,推导出可用于求解运动学正解的蚁群算法模型,并针对连续蚁群算法存在的缺陷进行了改进。运用该算法计算了3-UPS/PU的运动学正解,并同传统Newton-Raphson做了对比,证明该算法不受初值的影响,并且有良好的全局寻优能力和较高的精度,是一种具有高精度的能高速求解机构运动学正解的高效方法,对实验的顺利进行有一定的指导作用。

In order to make the experimental verification of the lunar soil sampling and packaging get a more accurate experimental data,a 3-UPS/PU parallel mechanism is needed to get a more precisely control,so a high precision was proposed to solve the problem of this parallel mechanism forward kinematics,and it translated the problem of solving parallel mechanism forward kinematics into objective function optimization problems; It computed the mathematical. An optimization was made based on the continuous ant colony algorithm. This method was used to solve the forward kinematics problem of the 3-UPS/PU parallel mechanism,and compared with results which utilize traditionalNewton-Raphson iterative method,the motion accuracy of improved ant colony algorithm was higher.The results show that the algorithm which has a good global optimization function and can avoid initial values and the local minimum effect on the calculation results is a good way to solve the problem of this parallel mechanism forward kinematics,it is helpful to make the experiment work well.