基于改进粒子群算法的四足机器人机体尺寸及质心位置优化  

Optimization of Body Size and Centroid Position of the Quadruped Robot based on Improved Particle Swarm Optimization Algorithm

作　　者：唐锴 吴焕龙 张良安[1] 季冉鸣 赵永杰[4] 王孝义[1] 卢新建 Tang Kai;Wu Huanlong;Zhang Liang′an;Ji Ranming;Zhao Yongjie;Wang Xiaoyi;Lu Xinjian(School of Mechanical Engineering,Anhui University of Technology,Maanshan 243000,China;Southwest Branch of CNPC Logging,Chongqing 400021,China;Xiamen Aerospace Siert Robot System Co.,Ltd.,Xiamen 361021,China;Department of Mechatronics Engineering,Shantou University,Shantou 515063,China;Guangdong Goldenwork Robot Technology Co.,Ltd.,Foshan 528226,China)

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243000 [2]中国石油集团测井有限公司西南分公司,重庆400021 [3]厦门航天思尔特机器人系统股份公司,福建厦门361021 [4]汕头大学机械电子工程系,广东汕头515063 [5]广东省智行机器人科技有限公司,广东佛山528226

出　　处：《机械传动》2021年第7期67-73,共7页Journal of Mechanical Transmission

基　　金：安徽省重点研究与开发计划项目(201904b11020030);广东省普通高校省级重大科研项目-基础研究重大项目及应用研究重大项目(自然科学类)(2017KZDXM036);佛山市科技创新团队专项项目(2018IT100052)。

摘　　要：以四足机器人为研究对象,提出了一种通过改进粒子群算法来优化机体尺寸和质心位置,从而提高其稳定性的方法。为建立优化性能评价指标和设计变量,建立机体动力学模型,分析了不同质心位置对于其稳定性的影响;将机体最大翻转角最小作为性能评价指标,机体尺寸和质心位置作为优化设计变量,通过改进的粒子群算法和理想点法进行优化,最终得到一组最优机体尺寸和质心位置。结果表明,优化前,四足机器人机体在左右两侧进行加减速翻转,其最大翻转角为10.10°;优化后,机体最大翻转角为4.34°,较优化前下降5.76°,且保持在同一侧的较小范围内稳定波动。四足机器人试验样机运动平稳,验证了该优化方法的有效性,为四足类机器人的稳定性研究提供了一定的理论参考。Taking the quadruped robot as research object,a method to optimize body size and centroid position of the quadruped robot based on improved particle swarm optimization algorithm to enhance its stability is proposed.In order to establish optimization performance evaluation indexes and design variables,the body dynamics model is established,the influence of different centroid positions of the robot on its motion stability is analyzed.Through the analysis,the maximum turning angle minimum is taken as the performance evaluation index,and the body size and centroid position are taken as the optimization design variables.After optimization by improved particle swarm optimization algorithm and ideal point method,a group of optimal body size and centroid positions are obtained.The results show that before optimization,the body can be accelerated and decelerated on the left and right side,its maximum turning angle is 10.10°.After the optimization of the size and the centroid positions,the maximum turning angle is 4.34°,which keeps stable fluctuation in a small range on the same side.Compared with that before optimization,the maximum turning angle of the body is reduced by 5.76°.The experimental prototype of a quadruped robot runs smoothly,validates the effectiveness of the optimization method,and also provides a certain theoretical reference for the stability research of quadruped robot in the future.

关 键 词：四足机器人 稳定性 质心位置 改进粒子群算法 机体最大翻转角 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]