Multi-objective Optimization of Hinge Location of the Water Pump Luffing Mechanism for Drainage Robot
This article elaborates on the working principle of a new type of water pump luffing mechanism for a drainage robot.In order to solve the problem of excessive force on the large and small cavities of the driving cylinder during the movement of the water pump luffing mechanism,the kinematics and statics models of the hydraulic luffing mechanism are established using the D-H homogeneous transformation matrix.A multi-objective optimization calculation method for determining the key hinge point location of the water pump luffing mechanism is proposed based on the different characteristics of the locking force and driving force of the hydraulic cylinder.The key hinge point locations of the water pump luffing mechanism are optimized and designed,and the optimization calculation model is further validated using dynamic software.The research results show that the maximum tensile force reduction of the optimized main cylinder reaches 16.3％,and the maximum thrust reduction reaches 16.6％,indicating that the force distribution of the hydraulic cylinder tends to be reasonable.The proposed calculation model of the water pump luffing mechanism is correct.The optimization method has the characteristics of fast convergence rate and good stability.The optimization calculation results of the water pump luffing mechanism provide a basis for the improvement of the scheme prototype.
water pump luffing mechanismdrainage robothinge point locationD-H homogeneous transformationmulti-objective optimization
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