对称悬架混联轮腿机器人结构设计与参数优化
Structural design and parameter optimization of symmetric suspension hybrid wheel-legged robot
杨洪涛 1单翔飞 1沈梅 1刘月琪1
作者信息
- 1. 安徽理工大学机械工程学院,安徽淮南 232001;安徽理工大学矿山智能装备与技术安徽省重点实验室,安徽淮南 232001
- 折叠
摘要
为了实现机器人在地下空间低能耗的灵活运动,文中设计了一种对称悬架混联轮腿机器人,并针对其腿部参数优化问题,提出了一种基于沙猫群算法的性能均衡优化方法(简称均衡优化方法).结合对称四边形机构与悬架系统,设计了一种对称悬架混联式轮腿结构,并建立其运动学和动力学模型,分析了腿部杆长对单轮腿运动空间和灵活性指标的影响,预优化确定了腿部初始杆长均为0.3 m.在满足轮腿越障规划空间及高灵活性的基础上,为了实现低能耗,建立了轮腿性能均衡优化评价指标,采用均衡优化方法对腿部杆长进行了优化研究.数值计算结果表明:大腿和小腿杆长最优值分别为0.23 m和0.3 m,该轮腿运动能耗为23.18 J,运动空间为0.1322 m2,灵活性指标变化范围为(0.2,1).优化后灵活性保持不变,运动空间减小了 24.54％,能耗降低了 22.60％,验证了该方法合理有效,为轮腿机器人的设计与优化提供了一种新的思路.
Abstract
In this article,in order to ensure that the robot can move flexibly in the underground space with low energy con-sumption,efforts are made to design a symmetrical suspension hybrid wheel-legged robot;the performance equilibrium optimiza-tion method(referred to as the equilibrium optimization method)is proposed based on the sand cat swarm optimization algorithm,so as to optimize the wheel-legged structure parameters.In combination with the symmetric quadrilateral mechanism and the sus-pension system,a symmetric suspension hybrid wheel-legged structure is designed,and the kinematics and dynamics models are set up.Efforts are made to explore the influence of the leg length on the single wheel-legged robot's motion space and flexibility index.The initial leg length of 0.3 m is determined by pre-optimization.Based on the reasonable planning space and high flexi-bility of wheel-legged obstacle crossing,in order to achieve low energy consumption,the evaluation index of wheel-legged per-formance equilibrium optimization is identified,and the leg length is optimized with the help of the equilibrium optimization meth-od.The results of numerical calculation show that the optimal values of the thigh and calf rod lengths are 0.23 m and 0.3 m re-spectively.The wheel-legged energy consumption is 23.18 J,the motion space is 0.132 2 m2,and the flexibility index ranges from(0.2,1).After optimization,the flexibility remains unchanged,the motion space reduces by 24.54％,and the energy con-sumption reduces by 22.60％.It has proved that this method,which is reasonable and effective,provides a new idea for design and optimization of wheel-legged robots.
关键词
对称悬架/混联轮腿机器人/结构设计/参数优化Key words
symmetric suspension/hybrid wheel-legged robot/structural design/parameter optimization引用本文复制引用
基金项目
安徽省重点研究与开发计划项目(202004a07020046)
安徽理工大学引进人才科研启动基金项目(2022yjrc100)
安徽省智能矿山技术与装备工程实验室开放基金项目(AIMTEEL202206)
出版年
2024
NETL
NSTL
万方数据