主动关节履带式蛇形救援机器人结构参数多目标优化设计

Multi-objective Optimization Design of Structural Parametersfor a Crawler Type Snake-like Rescue Robot with Active Joint

  • 摘要: 针对机器人化救援装备研制的难点,对具备肌肉注射功能的蛇形机器人结构参数进行了优化,进而解决了废墟非结构环境对机器人执行任务的约束问题。首先,在分析机器人废墟环境运动机理基础上,建立机器人运动性能与结构参数的函数模型。然后,利用基于非支配排序的NSGA-II和基于分解的MOEA-D多目标遗传算法2种方式对模型分别进行求解。通过对比2种方式,证明了NSGA-II算法在求解上更有效,最终确定机器人样机的最优结构设计参数。最后,根据优化结果研制了实验用的蛇形机器人样机。实验结果显示机器人的最大台阶翻越高度为0.18m,相对误差为0%;最大沟壑跨越宽度为0.4m,相对误差2.3%;直线构形最小转向阻力矩为14.320N·m,相对误差11.2%。验证了基于NSGA-II算法的结构参数多目标优化设计方法的有效性。

     

    Abstract: To address the difficulties in the development of robotic rescue equipment, the structural parameters of the snake-like robot with a function of muscle injection are optimized, to deal the problem of constraints of the non-structural environment of debris on the robot's task performance. Firstly, a model of the robot's motion performance as a function of structural parameters is established, based on the analysis of the robot's motion mechanism in the environment of debris. Then, the models are solved separately using two approaches, NSGA-II based on non-dominated ranking, and MOEA-D multi-objective genetic algorithm based on decomposition. By comparing the two approaches, it is demonstrated that NSGA-II is more effective in solving the model, and the optimization structural design parameters of the robot prototype are finally determined. Lastly, a prototype of snake robot is developed for experiments according to the optimization results. Experimental results show that on the robot, the maximum step-overcoming height is 0.18m, with a relative error of 0%; the maximum gully-crossing width is 0.4m, with a relative error of 2.3%; and the minimum steering resistance torque is 14.320N.m in the linear configuration, with a relative error of 11.2%. The effectiveness of the NSGA-II-based multi-objective optimization design method for the structural parameters is verified.

     

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