Complex particle swarm algorithm for the positional forward solution of planar parallel robot

Abstract

In accordance with the constraint conditions of rod lengths,the optimization model without constraints for solving the positional forward solution of 3-RPR planar parallel mechanism was presented.With the advantages of combining the complex method with particle swarm algorithm,the complex particle swarm algorithm of the constraint-less optimization solution for the synthetic equation of mechanism was presented.This method overcame the problem of difficult to choose the initial value of Newton method and at the same time conquered the problem of precision insufficiency on the solution of equation set induced by easy getting into the partial extreme vale of complex method and particle swarm algorithm.A living example of numerical value of planar parallel mechanism made clear that the entire assembling configurations could be found out by the method being proposed in this paper.This method possesses the advantages of overall search-ability,rather quick in convergence speed,quite high of precision and could find out satisfactorily the solution of nonlinear equation set that bears sensitivity on the unknown number.