基于遗传算法的自主地面车辆底盘设计与分析

Taher Deemyad, Ryan Moeller, Anish Sebastian
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引用次数: 6

摘要

本文分析了自主地面车辆(AGV)原型底盘的设计。这种原型车是一种四轮动力车辆,将用于识别和清除田间受Y病毒(PVY)影响的土豆。马铃薯地充满了崎岖的地形和深深的灌溉沟。在这样的地形中导航对机器人底盘的要求非常高。利用优化程序寻找理想的底盘尺寸和材料。进行了7种不同的应力分析,以帮助缩小底盘设计和原型材料的范围。除了对各种车辆子系统的总体概述外,还提供了该车辆底盘的受力和应力分析的详细描述。该底盘的所有应力分析均通过了CAD模型(SolidWorks)的设计要求,并在现场进行了搭建和测试。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Chassis Design and Analysis of an Autonomous Ground Vehicle (AGV) using Genetic Algorithm
This paper analyzes the design of a prototype chassis for an autonomous ground vehicle (AGV). This prototype is a four-wheel powered vehicle which would be used for identifying and removal of potatoes affected by virus Y (PVY) in the field. Potato fields are fraught with rough terrain and deep irrigation ruts. Navigation of such a terrain is very challenging and demanding on the robot chassis. An optimization routine was used for finding the ideal size and material for the chassis. Seven different stress analysis were conducted to help narrow down the chassis design and material for the prototype. In addition to a general overview of the various vehicle sub-systems, a detailed description of the force and stress analysis for the chassis of this vehicle is provided. All stress analysis for this chassis passed the design requirements in CAD model (SolidWorks) and has been built and tested in the field.
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