摘要
架空线路机器人自重影响机器人上线的难易程度及整体能耗.针对一种新型架空线路绝缘包覆机器人,采用拓扑优化与多目标优化组合实现机器人的轻量化设计.首先,介绍绝缘机器人的结构原理,提取影响机器人优化的相关因素.然后,建立关键部件的子结构拓扑模型,以灵敏度过滤后的二维分布结果作为多目标优化模型输入.其次,提出一种改进多目标粒子群算法,通过世代距离与非劣解间距评价了改进算法的优异性.最后,采用MATLAB-ANSYS耦合的改进多目标算法对整体模型进行模态频率与质量优化,其Pareto最优解表明优化后机器人的固有频率提高了16.5Hz,重量减少了40.2%.
Abstract
The weight of the overhead line robot affects the difficulty of the robot on-line and the energy consumption.Aiming at a new type of overhead line insulation robot,topology optimization and multi-objective optimization were used to achieve structur-al optimization.First,the structure of the insulation robot was analyzed to extract the design variables that affect the robot's optimi-zation target.Then the substructure topology model of the key structure was established to analyze material distribution.Otherwise,an improved multi-objective particle swarm algorithm was proposed.The advantages of the improved algorithm were evaluated through generation distance and space.The two-dimensional distribution result by sensitivity filtering was used as the input for multi-objective optimization model.Through the improved multi-objective algorithm,the MATLAB-ANSYS coupling model was used to optimize the First-order modal frequency and weight of the overall robot model.The selected Pareto optimal solution shows that the First-order modal frequency of the robot after optimization increases by 16.5Hz and the weight is reduced by 40.2%.
基金项目
国家自然科学基金(61801402)
中央高校基本科研业务费项目(2682020CX26)
四川省杰出青年科技人才项目(2020JDJQ0038)
NETL
NSTL
维普
万方数据