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Research on Forward Kinematics Solutions of 3RPUPc-UPS Parallel Mechanism Based on Particle-Artificial Bee Colony Algorithm

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14269))

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Abstract

Aim to solve the numerical forward solutions of 3RPUPc-UPS parallel mechanism, the particle-artificial bee colony algorithm is proposed. By analyzing the topological characteristics of the mechanism, the position and orientation characteristics sets, degrees of freedom and coupling degrees are obtained. According to the geometric characteristics of the mechanism, the inverse kinematics equations and the forward kinematics solutions model are established. Through a forward solution software of the mechanism, which is developed based on the particle swarm optimization, the artificial bee colony and the particle-artificial bee colony algorithm, the numerical solutions of the mechanism are obtained. The results show that the running time of the particle-artificial bee colony algorithm is shortened 47.46% than the artificial bee colony algorithm, and the accuracy of the solution is improved 10 orders of magnitude compared with the particle swarm optimization algorithm. The particle-artificial bee colony algorithm has fast calculation and high precision. This work provides a new method for studying the forward kinematics of parallel mechanisms.

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Authors and Affiliations

  1. Henan University of Science and Technology, Luoyang, 471003, China

    Zhenzhen Chang, Yanbin Zhang & Yaoguang Li

Authors
  1. Zhenzhen Chang
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  2. Yanbin Zhang
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  3. Yaoguang Li
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Corresponding author

Correspondence to Yanbin Zhang .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Chang, Z., Zhang, Y., Li, Y. (2023). Research on Forward Kinematics Solutions of 3RPUPc-UPS Parallel Mechanism Based on Particle-Artificial Bee Colony Algorithm. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_29

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  • DOI: https://doi.org/10.1007/978-981-99-6489-5_29

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6488-8

  • Online ISBN: 978-981-99-6489-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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