摘要
为提高移动机器人的行驶平顺性,设计适合野外探测的复合式移动系统。该移动系统具有摇臂转向架机构以连接前后轮履,并设计差速平衡机构将左右摇臂转角进行线性平均。通过悬架系统简化建立移动机器人振动模型并对其进行动力学分析;确定车身加速度的有效值和最大值、车轮动载荷最大值与有效值及前、后轮悬架系统不会被撞击的概率作为移动机器人行驶平顺性评价的统计量,并分别对几个评价统计量进行分析;提供适合于复合式移动机器人悬架参数优化的数学模型,确立设计变量和目标函数,建立相应的约束条件,采用NSGA-II对设计变量进行优化,计算出合适的悬架结构参数;通过试验验证优化仿真的正确性,并为复合式野外探测机器人行驶平顺性的提高提供有效的结构参数。
In order to improve the ride performance of mobile exploration robot, a compound mobile system for field exploration task is designed. There is a structure of rocker-bogie designed in this mobile robot to connect the front wheel and the rear wheel. And there is also a differential balance mechanism to make linear average of rotation angle from the left rocker and the fight rocker. The suspension system of mobile robot has been simplified, then the vibration model is established and dynamics analysis is made accordingly. The following values are analyzed, which is the effective and maximum value of bodywork acceleration, the effective and maximum value of wheel dynamic load, and the ratio of not being hit on rear wheel suspension system. These values are defmed as the evaluation statistics for fide performance. Then a mathematical model for compound mobile system is provided, and the design variables and objective function is defined. As the constraints been established, design variables are optimized by NSGA-II. Reasonable structure parameters for the suspension are calculated. Correctness optimization simulation is verified by tests and the effective structure parameters are also provided to improve the robot＇s ride performance.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2013年第7期155-161,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金(7150080050)
浙江省教育厅(Y201120198)资助项目
关键词
探测机器人
复合式移动系统
动力学模型
悬架参数
优化仿真
Exploration robot Compound mobile system Dynamic model Suspension parametersOptimization simulation
