一种攀爬清洁机器人底盘优化设计研究  

Optimization Design of a Climbing-Cleaning Robot Chassis

作　　者：高永祥[1] GAO Yong-xiang(Zhejiang Institute of Mechanical&Electrical Engineering,Department of Mechanical Technology,Zhejiang Hangzhou310053,China)

机构地区：[1]浙江机电职业技术学院机械技术系

出　　处：《机械设计与制造》2020年第1期237-242,247,共7页Machinery Design & Manufacture

基　　金：基于机器人的铅蓄电池转序工作站的设计与开发（Y201534419）;浙江省2016年度高等教育教学改革项目（JG20160304）

摘　　要：为提高平地楼道两用攀爬清洁机器人底盘刚度、强度和稳定性,减小结构重量,总结了平地清扫和不同楼梯角度下的攀爬清扫四种典型工况的工作特征。分析了攀爬清洁机器人的组成和工作原理,建立了各典型工况下工作载荷的数学模型。采用拓扑优化的优化设计方法,对机器人底盘结构进行优化设计,得到了底盘的最佳材料分布。基于空间钢架的有限元分析法,获得了底盘钢架的最大弯矩、最大扭矩、剪力和最大变形,并建立了底盘理论力学模型。采用了一种多目标自适应混沌粒子群优化算法(MACPSO),以底盘重量、最大应力和最大变形为目标函数,对底盘的主要参数进行优化设计。优化结果表明:攀爬清洁机器人底盘质量减小了54.2%,最大应力降低了17.5%,最大变形减小了28.5%,底盘质心位置前移了9.85%,提高了整机的刚强度和稳定性。In order to improve the stiffness,strength and stability of the chassis of the dual-purpose climbing and cleaning robot for flat floor and corridor,and to reduce the weight of the structure,the working characteristics of typical working conditions such as flat floor cleaning,climbing and cleaning at different angles of stairs are summarized. The composition and working principle of the climbing cleaning robot are analyzed,and the mathematical models of working load under typical working conditions are established. The chassis structure of the robot is optimized by using the method of topological optimization,and the material distribution of the chassis is obtained,and theoretical mechanical model of chassis is established. Based on the finite element analysis of space steel frame,the maximum bending moment,maximum torque,shear and maximum deformation are obtained. A multi-objective adaptive chaotic particle swarm optimization(MACPSO)algorithm is used to optimize the main parameters of the chassis,taking the chassis weight,maximum stress and maximum deformation as objective functions. The optimization results show that the chassis mass of the climbing-cleaning robot is reduced by 54.2%,the maximum stress is reduced by 17.5%,the maximum deformation is reduced by 28.5%,and the chassis center of mass is moved forward by 9.85%,which improve the rigidity,strength and stability of the whole machine.

关 键 词：清洁机器人 拓扑优化 空间钢架 多目标优化 粒子群算法 参数优化 

分 类 号：TH16[机械工程—机械制造及自动化] TH122