中文摘要：

提出了一种求解3-RPS并联机构正解优化的快速数值解算法,采用数值优化方式将正解转换为最小化问题。针对3-RPS并联机构位姿正解优化,采用数值法建立该并联运动平台正解方程,其实质为带约束的多目标非线性方程组。建立判定方程实现方程组单目标优化,采用引导人工蜂群算法进行最小值优化求解。该算法既利用了基本人工蜂群算法中邻近蜜蜂交换蜜源信息的方式,又采用全局最优蜜蜂引导所有蜜蜂往更优蜜源处移动,更快速地搜索到最优蜜源位置。通过求解3-RPS正解数值解优化仿真算例分析,对比改进蚁群算法和基本人工蜂群算法,结果表明引导人工蜂群算法是高精度高速求解并联运动平台正解优化的一种有效方法。

英文摘要：

A fast numerical algorithm for the forward kinematics optimization of 3-RPS parallel manipulator was presented. Through numerical optimization methods,the problem of forward kinematics of parallel robot was inverted to minimization problem. According to the optimization of forward kinematics for 3-RPS parallel manipulator,the forward kinematic functions,which were the multiobjective nonlinear equations with constraint,were built based on numerical method. The fitness function was established to achieve the optimization of single objective,and the minimum optimization was solved based on the global-best artificial bee colony algorithm. The information carried by employed bees was exchanged among the neighboring bees. The position information was exchanged randomly and the neighborhood bees were chosen randomly as the standard artificial bee colony algorithm. In addition,for the global-best artificial bee colony algorithm,the global best bee which carried the best position information would guide all bees to move to the better position,and convergence fast to the best position.As the simulation result of 3-RPS forward numerical kinematics showed,compared with continuous ant colony algorithm and standard artificial bee colony algorithm, the global-best artificial bee colony algorithm was an effective way,which with high precision and high speed,to solve forward kinematics of parallel manipulators.