【摘要】 【目的】湿喷机械臂为8自由度的冗余机械臂且带有移动关节，其逆运动学求解困难，因此，设计了一种改进蜂群算法。【方法】首先，利用D-H法建立机械臂运动学模型，以末端位姿误差和最佳柔顺性为优化目标，构建多约束目标函数；然后，引入混沌映射对蜜源进行初始化，再引入Levy飞行，改变雇佣蜂搜索策略，并通过自适应调整跟随蜂更新步长，提升种群多样性和算法的收敛速度；最后，利用Matlab编程进行了仿真验证。【结果】结果表明，该算法的收敛速度和求解精度都优于传统的蜂群算法、混沌蜂群算法和粒子群算法，证明了算法的可行性，为湿喷机械臂逆运动学的求解提供了一种新的途径。更多还原

【Abstract】 [Objective] The shotcrete manipulator is an eight-degree-of-freedom redundant manipulator with prismatic joints, and its inverse kinematics is difficult to solve. Therefore, an improved bee colony algorithm was designed. [Methods] Firstly, the D-H method was used to establish the kinematics model of the manipulator, and multi-constrained objective functions were constructed with the terminal pose error and best flexibility as optimization objectives. Then, chaotic mapping was introduced to initialize the honey source, and Levy flight was introduced to change the search strategy of the employed bees. The step length of the onlookers was adjusted adaptively, and the population diversity and the algorithm convergence speed were improved. Finally, the Matlab programming was used for simulation verification. [Results] The results show that the convergence speed and the accuracy of the proposed algorithm are better than the traditional bee colony algorithms, the chaotic bee colony algorithm and the particle swarm algorithm, which proves the feasibility of the proposed algorithm, and has provided a new way to solve the inverse kinematics of the wet spray manipulator.更多还原