履带消防机器人动力学分析及悬架参数优化  

Dynamics analysis on tracked fire-fighting robots and optimization of suspension parameters

作　　者：李欣泽 梁博文 孙宁 陶友瑞 LI Xin-ze;LIANG Bo-wen;SUN Ning;TAO You-rui(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401;CITIC HIC Kaicheng Intelligent Equipment Co.,Ltd.,Tangshan 063020)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]中信重工开诚智能装备有限公司,河北唐山063020

出　　处：《机械设计》2023年第4期13-19,共7页Journal of Machine Design

基　　金：中央引导地方科技发展资金项目(基础研究项目)(206Z1804G);河北省自然科学基金创新项目群体(E2020202142)。

摘　　要：针对履带式消防机器人在恶劣环境中作业时云台不稳定的问题,对消防机器人的悬架参数进行优化。首先,建立消防机器人动力学模型,通过试验获得关键参数的数据,进一步提高模型精度,并与整机试验对比验证模型的准确性。然后,选取悬架参数为设计变量,平台振动加速度均方根值为目标值,基于响应面法构建代理模型,建立设计变量与目标值之间的显式函数关系。最后,采用遗传算法对目标函数进行优化求解。优化结果表明:优化后云台振动加速度均方根值减小8.43%,云台的稳定性更好。When the tracked fire-fighting robot works in the harsh environment,the platform is unstable.Thus,in this article,the suspension parameters are optimized.Firstly,a dynamic model of the fire-fighting robot is set up,and the data on the key parameters obtained through a series of experiment is used to improve the model's accuracy;experimental efforts are made to compare the model and the whole machine,in order to verify that the model is accurate.Then,the suspension parameters are selected as the design variables,and the RMS(Root Mean Square)value of platform vibration acceleration is taken as the target value;based on the response-surface method,the surrogate model is constructed,and the explicit functional relationship between the design variables and the target value is worked out.Finally,the genetic algorithm is used to optimize the objective function.The optimization results show that after optimization the RMS value of platform vibration acceleration reduces by 8.43%,and the platform enjoys a higher standard of stability.

关 键 词：消防机器人 虚拟样机技术 代理模型 优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]