混合人工蜂群算法在并联机构尺度优化中的应用

Application of the algorithm of hybrid artificial bee colony in the dimension optimization of parallel mechanism

以4-RUPaR并联机构为研究对象,以机构杆长为约束条件,利用解析几何中的坐标变换理论,得到其运动学反解模型,根据该模型,利用所有满足约束条件的'点集'描述并联机构定姿态工作空间大小。建立以并联机构驱动连杆长度、执行连杆长度和动平台尺寸为设计变量,以工作空间最大化作为优化目标的尺度优化模型。在求解多维优化问题时,为提高算法的搜索效率及解的质量,文中将差分进化(Differential Evolution, DE)算法融入人工蜂群(Artificial Bee Colony,ABC)算法,提出一种混合人工蜂群(Hybrid Artificial Bee Colony,HABC)算法,以增强算法的全局优化能力。应用HABC算法求解并联机构尺度优化设计,获得了较好的优化效果。

This article focuses on the 4-RUPaR parallel mechanism.With the mechanism link’s length as the constraint,the inverse equation of kinematics is worked out by the theory of coordinate transformation in analytic geometry.Based on the equation,the parallel mechanism’s workspace is approximately expressed by the point set which is subject to the constraint.The scale-optimization model is set up,with the length of drive link,the length of actuator link and the size of moving platform as the design variables,as well as with the maximization of the workspace as the optimization target.In order to improve the search efficiency and the quality in solving the problems of multi-dimensional optimization,in combination with the differential evolution(DE)algorithm and the artificial bee colony(ABC)algorithm,a hybrid artificial bee colony(HABC)algorithm is proposed,thereby enhancing the algorithm’s capability of global optimization.The HABC algorithm is adopted to solve the scale optimization of parallel mechanism,and better outcomes of optimization have been yielded.