3-SRR腿履式调姿救援机器人优化设计与试验
Optimized design and experiment of 3-SRR leg-crawler posture-adjusted rescue robot
啜佳帅 1赵延治 1单煜 1于海波 1徐东阳1
作者信息
- 1. 燕山大学河北省并联机器人与机电系统重点实验室,河北秦皇岛 066004;燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛 066004
- 折叠
摘要
为实现在复杂环境下对处于不同位姿伤员的精准施救及稳定转运,文中提出了一种3-SRR腿履式调姿救援机器人机构,并进行运动学分析、机构优化设计及试验研究.首先,基于闭环矢量法对其进行运动学分析,得到救援机器人运动学反解;然后,基于迭代搜索算法,得到其救援作业空间与姿态空间,并基于单一变量法分析救援机器人机构尺寸参数对救援作业空间的影响;然后,以救援作业空间最大、姿态能力最强为优化目标函数,基于差分进化算法对机构尺寸参数进行优化;最后,研制原理样机并进行调姿能力试验,试验结果证明了方案的可行性与理论分析的正确性,为灾难救援提供一种可行的解决方案.
Abstract
In this article,in order to realize the precise rescue and stable transfer of the wounded in different postures in the complex environment,efforts are made to propose a 3-SRR leg-crawler posture-adjusted rescue robot;then,it is subject to the ki-nematics analysis,optimization design,and experimental study.Firstly,based on the closed-loop vector method,the kinematics analysis is conducted on the rescue robot,and its inverse kinematics solution is obtained.Secondly,with the help of the iterative search algorithm,both the rescue workspace and the posture space are obtained;the influence of the size parameters on the rescue workspace is explored by means of the single variable method.Next,with the maximum rescue operation workspace and the stron-gest posture-adjusted ability as the objective function,the size parameters are optimized according to the differential evolution al-gorithm.Finally,a prototype is developed,and its posture-adjusted ability is subject to some experiments.The experimental results show that this scheme is feasible and the theoretical analysis is correct,thus providing reasonable solutions for disaster rescue.
关键词
并联机构/腿履式/运动学分析/救援作业空间/差分进化算法Key words
parallel mechanism/leg-crawler/kinematics analysis/rescue workspace/differential evolution algorithm引用本文复制引用
基金项目
国家重点研发计划(2017YFE0112200)
中央引导地方科技发展资金项目(206Z1807G)
河北省自然科学基金重点项目(E2021203125)
出版年
2024
NETL
NSTL
万方数据