基于遗传算法的三平动3-PRRRR并联机器人正解位形的研究与仿真

摘要

Because of the characteristic of the parallel manipulator configuration,forward kinematic analysis is relatively complex in its kinematic analysis,which is also a difficulty of the research on kinematic analysis of parallel manipulator.In this paper,using the genetic algorithm,the problems of the forward kinematic analysis of parallel manipulator is converted to the optimization problems.The genetic algorithm toolbox in MATLAB is used to solve the forward kinematic problem of 3-PRRRR parallel manipulator and get the optimal solution.As the inverse solution and positive confirm each other,the method is proved to have high practicability in forward kinematic analysis of parallel manipulator.%由于并联机器人构型的特点,在其运动学分析中,正解分析较为复杂,也是在研究并联机器人运动学过程中的一个难点.本文采用遗传算法,将并联机器人的运动学正解问题转化为优化问题.利用MATLAB遗传算法工具箱对三平动3-PRRRR并联机器人的正解问题进行求解,得到优化解,并用反解结果与正解结果进行互相印证,证明该方法对于并联机器人正解问题具有较高的实用性.