基于PSO的绳牵引式运动目标模拟机构工作空间优化

Workspace Optimization of Cable-driven Moving Target Simulation Mechanism Based on PSO

为满足运动目标的多种轨迹模拟需求,提出四绳索三自由度平面并联机构工作空间求解和参数优化方法。首先,分析机构的结构特点建立静力学模型,基于正交补方法求解定姿态下力旋量可行工作空间。然后,研究结构参数对机构工作空间大小的影响,采用改进权重粒子群算法进行优化。最后,比较分析优化前后的工作空间大小。实验结果表明,优化后机构构型的工作空间位姿点个数相较于优化前增加27.5%,可为机构工作空间优化提供新的解决方案。

In order to meet the needs of multiple trajectory simulation of moving objects,a workspace solution and parameter optimization method for a four rope three degree of freedom planar parallel mechanism is proposed.Firstly,the static model is established by analyzing the structural characteristics of the mechanism,and the feasible workspace of the force screw under constant attitude is solved based on the orthogonal complement method.Then,the influence of structural parameters on the workspace size of the mechanism is studied,and the improved weight particle swarm optimization algorithm is used for optimization.Finally,compare and analyze the workspace size before and after optimization.The experimental results show that the number of workspace pose points of the optimized mechanism configuration is 27.5%higher than that before optimization.It is expected to provide a new solution for the optimization of mechanism workspace.