集成主动和被动顺应能力的轮腿漫游车刚度优化设计

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL
Bike Zhu, Jun He, Feng Gao
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引用次数: 0

摘要

顺应能力是粗糙地形机器人悬挂系统最重要的特性之一。这就对系统刚度设计提出了具体要求,因为刚度直接决定了平台对外界刺激的响应性能。为了应对主动和被动顺应系统刚度优化设计的挑战,本文提出了一种新颖实用的方法,用于优化地形适应轮腿式漫游车的刚度。首先,建立了该多自由度平台的运动学模型。其次,推导出变形能力系数、负载能力系数、能量效率系数和动态稳定性系数,作为评估系统行为的性能指标。通过建立关节配置变化与系统刚度之间的关系,可以通过这些性能指标来评估刚度参数。最后,从各个性能最优域的细化交叉点中选出全局最优刚度参数。第三,计算最佳参数并通过数值验证其适用性。设计参数在轮腿漫游车上进行了实验验证。实验结果表明,所提出的算法可以找到实现最佳系统性能的参数组合,从而提高系统的地形适应性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Stiffness optimization design of wheeled-legged rover integrating active and passive compliance capabilities

Compliance capability is one of the most important properties of suspension systems for rough-terrain robots. This imposes specific requirements on system stiffness design, which directly determines the platform's performance in response to external stimuli. To address the challenge of stiffness optimization design in active and passive compliant systems, this paper proposes a novel and practical method for optimizing stiffness for a terrain-adaptive wheel-legged rover. Firstly, the kinematic model of this multi-degree-of-freedom platform is established. Secondly, the deformation capability coefficient, load capacity coefficient, energy efficiency coefficient, and dynamic stability coefficient are derived as performance indices to assess the behavior of the system. By establishing the relationship between joint configuration variation and system stiffness, stiffness parameters could be evaluated through these performance indices. Ultimately, the global optimum stiffness parameters are selected from the refined intersection of the individual performance optimal domains. Thirdly, the optimum parameters are calculated and applicability verified numerically. The designed parameters are verified experimentally on a wheeled-legged rover. The experimental results demonstrate that the proposed algorithm can find the parameter combination that achieves optimal system performance, thereby enhancing the system's terrain adaptability.

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来源期刊
Mechanism and Machine Theory
Mechanism and Machine Theory 工程技术-工程:机械
CiteScore
9.90
自引率
23.10%
发文量
450
审稿时长
20 days
期刊介绍: Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry
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