基于应用性能的卷曲六足机器人尺寸和控制参数多目标优化设计方法

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2024-11-12 DOI:10.1016/j.mechmachtheory.2024.105831

Yuguang Xiao , Ke Yin , Xianbao Chen , Zhijun Chen , Feng Gao

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引用次数: 0

摘要

冰壶六足机器人不同于以往的冰壶机器人，它可以模仿冰壶运动员的投掷动作。为确保其性能，需要对机器人的尺寸和控制参数进行优化。然而，目前仍缺乏基于应用性能并考虑尺寸和控制参数耦合效应的六足冰壶机器人参数设计优化方法。针对这一需求，本文结合 Simscape 多体仿真建模和遗传算法，提出了一种基于应用性能的六足卷曲机器人尺寸和控制参数的多目标优化方法。该方法利用 Simscape Multibody 建立了卷曲机器人的参数模型，并根据约束条件和目标函数提出了利用遗传算法的优化搜索方法。最后，通过优化方法求解出满足应用性能要求的卷曲机器人的尺寸和控制参数。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Multi-objective optimization design method for the dimensions and control parameters of curling hexapod robot based on application performance

The curling hexapod robot is different from previous curling robots, which can mimic the throwing actions of curlers. To ensure its performance, the size and control parameters of the robot need to be optimized. However, there is still a lack of parameter design optimization methods for hexapod curling robots based on application performance and considering the coupling effects of size and control parameters. To meet this demand, this paper combines Simscape Multibody simulation modeling and genetic algorithm to propose a multi-objective optimization method for the dimensions and control parameters of curling hexapod robot based on application performance. This method uses Simscape Multibody to establish a parametric model of the curling robot, and proposes an optimization search method using genetic algorithms based on constraints and objective functions. Finally, the dimensions and control parameters of the curling robot that meet the application performance requirements are solved through the optimization method.

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来源期刊

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