Forward Kinematics Solution of Inward Bending 3-RRS Parallel Mechanism Based on Ant Colony Algorithm

Abstract

This paper proposes a method that uses ant colony algorithm to solve the forward kinematics of inward bending 3-RRS parallel mechanism, which avoids the problem that the accuracy of traditional numerical method for solving forward kinematics of parallel mechanism is affected by the initial value of iteration. Firstly, according to the structural characteristics of mechanism, the inverse and forward kinematics modelling are established. Then, weighted sum method is used to transform the forward kinematics equations of parallel mechanism into an objective function. And ant colony algorithm is used to solve the objective function. Compared with traditional numerical methods, the proposed method can avoid the influence of initial values and local optimal values on the results, and does not need to calculate the jacobian matrix of inward bending 3-RRS parallel mechanism, meanwhile it has the ability of global optimization. The numerical results verify the effectiveness of the method.