基于混合遗传算法3_RRRT并联机构奇异位形研究.pdfVIP

2008 8 A ug12008 36 8 MACH INE TOOL HYDRAULICS V ol136 N o18 基于混合遗传算法的 3-RRRT 并联机构奇异位形研究 王秀全, 刘延斌 河南科技大学机电工程学院, 河南洛阳 471003) : 3-RRRT , , M ATLA B , , : ; ; ; : TH 112 : A : 100 1- 3881 200 8) 8- 034 - 3 Research on the Singular Configuration of the 3-RRRT ParallelMechanism Based on HybridGeneticAlgorithm WANG X iuquan, L IU Y anb in Co llege of M echanical Eng ineering, Un iversity o f Sc inece and T echno logy H enan, Luoyang H enan 471003, Ch ina) Abstract: A ccord ing to characters o f 3-RRRT pa ra lle lmechan ism, based on a m ethod w h ich takes suppo rting bar o rienta tion co- sine and m otion p la tform abso lu te station coo rd ina tes of the 3-RRRT paralle lm echan ism as system. s genera lized coord inates, the kine- m atic m otion and reduced fo rmu la tion to judge singular conf iguration o f the 3-RRRT parallelm echanism w as set up. H ybrid gene tic al- gor ithm based on the flo ating gene tic algor ithm and quasi-N ew toninterationsw as u sed to w ork ou t s mi u la tion program of singular cong f ig- uration, the f igure o f singular congfuguration w as presented, and the m echan ism singular distributing law w as analyzed. K ey ords: Pa ra lle lm echan ism; S ingu lar conf igura tion; Q uas-iN ew tonin tera tions; H ybrid gene tic a lgo rithm 0 ) , , xy , [ 1- 5] , , ,