Measurement modeling for 6-DOF parallel-link coordinate measuring machinebased on particle swarm optimization

LIU De-Jun

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Measurement modeling for 6-DOF parallel-link coordinate measuring machinebased on particle swarm optimization

Article | 更新时间：2020-08-12

- Measurement modeling for 6-DOF parallel-link coordinate measuring machinebased on particle swarm optimization
- Optics and Precision Engineering Vol. 16, Issue 1, Pages: 76-81(2008)
- 作者机构：
  
  中国石油大学
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Received：01 June 2007，
  
  Revised：13 July 2007，
  
  Published Online：22 January 2008，
  
  Published：22 January 2008
- 稿件说明：
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刘得军. 基于粒子群算法的6-DOF并联坐标测量机测量建模[J]. 光学精密工程, 2008,16(1):76-81

LIU De-Jun. Measurement modeling for 6-DOF parallel-link coordinate measuring machinebased on particle swarm optimization[J]. Optics and precision engineering, 2008, 16(1): 76-81.
刘得军. 基于粒子群算法的6-DOF并联坐标测量机测量建模[J]. 光学精密工程, 2008,16(1):76-81 DOI：

LIU De-Jun. Measurement modeling for 6-DOF parallel-link coordinate measuring machinebased on particle swarm optimization[J]. Optics and precision engineering, 2008, 16(1): 76-81. DOI：

摘要

为了求解6-DOF并联坐标测量机的位置正解（测量模型），克服数值解法求解并联机构位置正解时解的精度易受初值的影响，建立了无约束的优化模型，并使用粒子群算法对此模型进行优化。依据并联机构的位置反解模型，给出求解6-DOF并联坐标测量机位置正解的无约束优化模型，并应用粒子群算法对该优化问题进行求解，由此可将复杂的并联坐标测量机测量建模问题转换为优化问题，从而求得位置正解。仿真结果表明：80个粒子大约经过55次的迭代运算后，收敛精度可达到0.5μm，平均运行时间约为3s。粒子群算法应用于并联坐标测量机测量建模与求解，可获得较高的计算速度和计算精度。

Abstract

In order to get forward position (measurement model) of a 6-DOF (six-degrees-of-freedom) parallel-link coordinate measuring machine (CMM)

and overcome the shortcomings of numerical method that the accuracy for the forward kinematics can be influenced easily by the selection of the initial values

an unconstrained optimization model is established and the particle swarm optimization (PSO) algorithm is used for optimizing the model. The unconstrained optimization model of a 6-DOF parallel-link CMM for forward position based on the inverse position model of parallel-link mechanism which is presented. The PSO algorithm is used for solving the optimization problem

and then the forward position can be obtained. The simulation results indicate that 80 particles’ operation precision is about 0.5μm by the 55 times’ operations and the average time is about 3s. The PSO algorithm has the higher speed of calculation and the higher precision for measurement modeling and solution of parallel-link CMM.

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Related Author

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