Forward kinematics solutions of 3RPUPc-UPS parallel mechanism based on a particle-artificial bee colony algorithm
Aiming at the difficulty in solving the forward kinematics of 3RPUPc-UPS parallel mechanism,the kinematics of a new 3RPUPc-UPS parallel mechanism were studied,and the forward kinematics solution model was constructed,and then a kinematics solution method of parallel mechanism based on particle-artificial bee colony(P-ABC)algorithm was proposed.Firstly,according to the topological characteristics of the mechanism,the position and orientation characteristics,degrees of freedom and coupling degrees were calculated.Then,according to the geometric characteristics of the mechanism,the inverse kinematics equations were established based on the attitude transformation matrix and the projection equation of moving platform,and the correctness was verified by comparing the simulation results of MATLAB and SOLIDWORKS.Finally,the inverse kinematics equations were transformed into a minimization problem,and then a forward kinematics model suitable for optimization algorithm was constructed.The software for calculating the forward kinematics solution of the parallel mechanism was developed by using the graphic user interface(GUI)function of MATLAB,and the forward kinematics solutions were calculated based on particle swarm optimization(PSO),artificial bee colony(ABC)and P-ABC algorithm.The research results show that the solution time taken by P-ABC algorithm to solve the forward kinematics solutions is within 0.5 s,and the solution error level is 10-20.Comparing with the ABC algorithm,the running time of the P-ABC algorithm is shortened 50.02%,and the accuracy of the solution is improved 10 orders of magnitude compared with the PSO algorithm.The P-ABC algorithm,which has the characteristics of fast calculation speed and high precision,can be used to solve the forward kinematics of the mechanism.This work provides a new method for studying the forward kinematics of parallel mechanisms.
mechanism scienceparallel mechanismforward kinematics solution modelposition and orientation characteristics(POC)particle-artificial bee colony(P-ABC)algorithmgraphic user interface(GUI)
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