3D格子气自动机算法的空间并联机构工作空间搜索算法的研究

Research on the Algorithm of 3D Lattice Gas Automata for Workspace Search of Spatial Parallel Mechanism

针对并联机构工作空间数值搜索法中冗余问题,结合均匀3D格子气自动机原理中并行计算的特点,提出一种高效且动态的3D格子气自动机的工作空间搜索法。详细阐述了此方法的整个动态演化搜索原理以及算法流程。分别以空间4PPaR并联机构和4PRPaRR为例,根据运动学逆解建立工作空间求解的约束模型,实现4PPaR空间并联机构的可达工作空间、4PRPaRR并联机构定姿态工作空间的3D空间的搜索,验证了该搜索法的可行性和并行搜索能力,讨论了提高该算法搜索能力的影响因素,结果表明:此方法搜索过程动态直观,搜索结果边界轮廓准确清晰,可作为一种新型的并联机构工作空间动态搜索方法,并且具有较强的可扩展特性,同时提高粒子数量、适宜的粒子运动速度、以及粒子集中分布和靠近工作空间都可以提高该算法搜索能力。

Aiming at the problem of algorithm redundancy in the numerical search method of parallel mechanism workspace,combined with the characteristics of parallel computing in the principle of uniform 3D lattice gas automata,a parallel and dynamic 3D lattice gas automata workspace search method is proposed,and the whole dynamic search principle and algorithm flow of this method are described in detail.Taking the spatial 4PPa parallel mechanism and 4PRPaRR as examples,the constraint model of workspace solution is established to realize the 3D space search of reachable workspace of 4ppar spatial parallel mechanism and the pose workspace of 4prparr parallel mechanism.The feasibility of the search method and the parallel search ability are verified.The influencing factors of improving the search ability of the algorithm are discussed.The results show that the search method is effective The cable process is dynamic and intuitionistic,and the boundary contour of the search results is accurate and clear.It can be used as a new dynamic search method of parallel mechanism workspace,and has strong expandable characteristics.At the same time,the search ability of the algorithm can be improved by increasing the number of particles,the appropriate particle velocity,and the concentration distribution and proximity of particles to the workspace.