| In order to solve the isolation problem of some airborne phased array radar, we choose the Stewart Platform, the typical space DOF parallel mechanism, as the core isolation agency to avoid complex frequent vibration affecting the measurement accuracy and controllable of the radar, and to slow down the aging process of the equipment.In the course of solving the Stewart Platform’s kinematics position solutions, we build a rotation matrix to get to the reserve solutions and realize it In Matlab. It is difficult to have the positive solutions of parallel mechanism, combined with the specific needs of the subject, we improve and fusion Genetic Algorithm and Ant Colony Algorithm, and put forward a series type hybrid method based on an improved Genetic-Ant Colony Algorithm to solve the positive solutions of Stewart Platform. In the prophase, we use Genetic Algorithm for large-scale optimization, and use Ant Colony Algorithm in the late stage based on the results of Genetic Algorithm, full playing the Genetic Algorithm’s performance of fast, randomness, powerful global optimization capability and the Ant Colony Algorithm’s parallelism, positive feedback, efficiency. The hybrid algorithm has shown some advantages in solving efficiency, convergence, precision, and so on.At the same time, we write a software based on the hybrid algorithm for the positive solutions of Stewart Platform, and verify its feasibility and superiority through specific examples. |
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