格子气自动机并行搜索法的并联机构工作空间求解

Solution of Parallel Mechanism Workspace of Lattice Gas Automata Parallel Search Method

针对传统静态数值搜索法中的串行和全局搜索的算法冗余问题,提出一种均匀格子气自动机的并行动态粒子工作空间边界搜索法,介绍了此方法的整个动态演化搜索原理以及算法流程。以3RRR平面并联机构为例,建立工作空间求解的约束模型,实现可达工作空间、定姿态工作空间、灵活工作空间边界的搜索,验证了该搜索法的可行性,结果表明:此方法搜索过程动态直观,边界清晰准确,具有快速收敛,并行高效动态的特点,可作为一种新型的工作空间动态搜索方法。

A parallel dynamic particle workspace boundary search method based on uniform lattice gas automata is proposed to solve the problem of redundancy of serial and global search algorithms in traditional static numerical search methods,dynamic search principle and steps of this method was introduced.Taking 3RRR planar parallel mechanism for example,the workspace to solve the constraints of the model was set up,reachable workspaceboundary,positionworkspace boundary,flexibleworkspace boundary were finished base this way,The results show that the search process of this method is dynamic and intuitive,the boundary is clear and accurate,and it has the characteristics of fast convergence,parallel and efficient dynamic.It can be used as a new dynamic search method in workspace.