双摇臂履带式矿山机器人结构优化设计
Structure optimization design of mine crawler robot with two rocker arms
【索引】胡坤,张志远,李德永,等.双摇臂履带式矿山机器人结构优化设计[J].工矿qy288千亿国际,2019,45(9):54-60.
【Reference】HU Kun, ZHANG Zhiyuan, LI Deyong, et al. Structure optimization design of mine crawler robot with double rocker arms[J].Industry and Mine Automation,2019,45(9):54-60
【DOI】10.13272/j.issn.1671-251x.2019010069
【作者】胡坤,张志远,李德永,王爽
【Author】 HU Kun,ZHANG Zhiyuan,LI Deyong,WANG Shuang
【作者机构】安徽理工大学 机械工程学院, 安徽 淮南232001
【Unit】School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China
【摘要】针对双摇臂履带式矿山机器人结构设计中的多目标优化问题,提出了基于GA-PSO算法的双摇臂履带式矿山机器人结构优化设计方案。通过机器人越障过程的几何学和运动学分析,得出机器人越障最大高度和质心位置变换的影响因素;根据矿山机器人工作要求建立约束条件,得到多目标优化函数,通过引入权重系数,将多目标优化问题转换为单目标优化问题;利用GA-PSO算法对单目标优化问题进行求解,得到机器人最优结构参数:车体质量为10 kg,摇臂质量为5 kg,前后轮距离为600 mm,驱动轮半径为115 mm。仿真结果表明,采用该结构参数设计的机器人完成目标动作所需的能耗低于其他设计方案,更加易于实现目标动作。
【Abstract】In view of multi-objective optimization problem in structure design of mine crawler robot with two rocker arms, a structure optimization design scheme of mine crawler robot with two rocker arms based on GA-PSO algorithm was proposed. Influence factors of maximum obstacle crossing height of robot and centroid position change are obtained through geometry and kinematics analysis of obstacle crossing process of the robot. According to work requirements of mine robot, constraint conditions are established to get multi-objective optimization function, and the multi-objective optimization problem is transformed into a single-objective optimization problem by introducing weight coefficient. GA-PSO algorithm is used to solve the single-objective optimization problem, and the optimal structural parameters of the robot are obtained: the quality of the car body is 10 kg, the quality of the rocker arm is 5 kg, the distance between front and rear wheels is 600 mm, the radius of drive wheel is 115 mm. The simulation results show that the energy consumption of the robot adopting above parameters is lower than other design schemes, and the target motion is easier to achieve.
【关键词】 履带式矿山机器人; 双摇臂; 越障; 多目标优化; GA-PSO算法
【Keywords】mine crawler robot; two rocker arms; obstacle crossing; multi-objective optimization;GA-PSO algorithm
【文献出处】工矿qy288千亿国际,2019年9期
【基金】国家自然科学基金项目(51874004);安徽省自然科学基金项目(1908085QE227)
【分类号】TD67
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