For the car sequencing（CS） problem, the draw-backs of the ＂sliding windows＂ technique used in the objective function have not been rectified, and no high quality initial solution has been acquired to accelerate th...For the car sequencing（CS） problem, the draw-backs of the ＂sliding windows＂ technique used in the objective function have not been rectified, and no high quality initial solution has been acquired to accelerate the improvement of the solution quality. Firstly, the objective function is improved to solve the double and bias counting of violations broadly discussed. Then, a new method combining heuristic with constraint propagation is proposed which constructs initial solutions under a parallel framework. Based on constraint propagation, three filtering rules are designed to intersecting with three greedy functions, so the variable domain is narrowed in the process of the construction. The parallel framework is served to show its robustness in terms of the quality of the solution since it greatly increases the performance of obtaining the best solution. In the computational experiments, 109 instances of 3 sets from the CSPLib＇ s benchmarks are used to test the performance of the proposed method. Experiment results show that the proposed method outperforms others in acquiring the best-known results for 85 best-known results of 109 are obtained with only one construction. The proposed research provides an avenue to remedy the deficiencies of ＂sliding windows＂ technique and construct high quality initial solutions.展开更多
The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration...The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.展开更多
It is widely used for the rotational parallel mechanism in the field of spatial orientation. While owing to the existence of coupling, the forward kinematic solution and the control of the general rotational parallel ...It is widely used for the rotational parallel mechanism in the field of spatial orientation. While owing to the existence of coupling, the forward kinematic solution and the control of the general rotational parallel mechanism are especially difficult. If decoupling can be realized, the kinematic analysis of the mechanism will be very simple. Presently, the research of the parallel mechanism is focused on the inverse solution and structure optimization, and there is a lack of rotation decoupled parallel mechanisms （DPMs）. So this paper proposes a family of 2 degree of freedom （DOF） rotational DPMs based on the four-bar linkage mechanism, and performs a characteristic analysis. This family of DPMs is composed of a moving platform, a fixed base and three limbs. Taking U_RRU SPU DPM as an example, the motion feature of this DPM is analyzed with the constraint screw method, and its mobility is calculated by using the Modified Kutzbach-Grtibler criterion. The inverse and forward displacement problems of the proposed parallel mechanism are solved. The decoupled feature of the proposed parallel mechanism is validated by the deduction of the expression of the Jaeobian matrix. Three kinds of singularity conditions of this DPM are discussed, and the atlases of the output parameter concerning different geometric parameters are plotted with the theory of the physical model of the solution space. The proposition and characteristic analysis of the novel rotational DPMs in this paper should be useful for further research and application of the parallel mechanisms.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51435009,71302085)Zhejiang Provincial Natural Science Foundation of China(Grant No.LQ14E080002)K.C.Wong Magna Fund in Ningbo University
文摘For the car sequencing（CS） problem, the draw-backs of the ＂sliding windows＂ technique used in the objective function have not been rectified, and no high quality initial solution has been acquired to accelerate the improvement of the solution quality. Firstly, the objective function is improved to solve the double and bias counting of violations broadly discussed. Then, a new method combining heuristic with constraint propagation is proposed which constructs initial solutions under a parallel framework. Based on constraint propagation, three filtering rules are designed to intersecting with three greedy functions, so the variable domain is narrowed in the process of the construction. The parallel framework is served to show its robustness in terms of the quality of the solution since it greatly increases the performance of obtaining the best solution. In the computational experiments, 109 instances of 3 sets from the CSPLib＇ s benchmarks are used to test the performance of the proposed method. Experiment results show that the proposed method outperforms others in acquiring the best-known results for 85 best-known results of 109 are obtained with only one construction. The proposed research provides an avenue to remedy the deficiencies of ＂sliding windows＂ technique and construct high quality initial solutions.
基金Supported by National Natural Science Foundation of China(Grant No.51405425)Hebei Provincial Natural Science Foundation of China(Grant No.E2014203255)Independent Research Program Topics of Young Teachers in Yanshan University,China(Grant No.13LGA001)
文摘The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.
基金supported by National Natural Science Foundation of China (Grant No. 50875227)
文摘It is widely used for the rotational parallel mechanism in the field of spatial orientation. While owing to the existence of coupling, the forward kinematic solution and the control of the general rotational parallel mechanism are especially difficult. If decoupling can be realized, the kinematic analysis of the mechanism will be very simple. Presently, the research of the parallel mechanism is focused on the inverse solution and structure optimization, and there is a lack of rotation decoupled parallel mechanisms （DPMs）. So this paper proposes a family of 2 degree of freedom （DOF） rotational DPMs based on the four-bar linkage mechanism, and performs a characteristic analysis. This family of DPMs is composed of a moving platform, a fixed base and three limbs. Taking U_RRU SPU DPM as an example, the motion feature of this DPM is analyzed with the constraint screw method, and its mobility is calculated by using the Modified Kutzbach-Grtibler criterion. The inverse and forward displacement problems of the proposed parallel mechanism are solved. The decoupled feature of the proposed parallel mechanism is validated by the deduction of the expression of the Jaeobian matrix. Three kinds of singularity conditions of this DPM are discussed, and the atlases of the output parameter concerning different geometric parameters are plotted with the theory of the physical model of the solution space. The proposition and characteristic analysis of the novel rotational DPMs in this paper should be useful for further research and application of the parallel mechanisms.
