基于遗传算法的水空两栖机器人可变形翼剪叉机构优化设计  

Optimal Design of Scissor Structures of Deformable Wing of the Water air Amphibious Robot Based on Genetic Algorithm

作　　者：邸欢 赵东标[1] 杜城融 DI Huan;ZHAO Dongbiao;DU Chengrong(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械与电子》2023年第8期65-70,共6页Machinery & Electronics

摘　　要：针对水空两栖机器人可变形翼的剪叉机构拟合问题,根据最优化思想,构建剪叉机构的几何模型,提出了一种优化算法以及优化流程框架。应用遗传算法对剪叉机构几何参数进行优化设计,探究剪叉单元数量与拟合误差值之间的关系,分析了优化结果对变形翼的影响,对水空两栖机器人可变形翼剪叉机构的设计有一定帮助。For the problem of fitting multiple curves to the scissor structures of deformable wing of amphibious robot,an optimization algorithm as well as an optimization process framework is proposed based on the optimization idea to construct a geometric model of the scissor structures in the paper.Genetic algorithm is applied to optimize the design of the geometric parameters of the scissor structures.The relationship between the number of scissor units and the value of fitting error is explored,and the influence of the optimization results on the deformable wing is analyzed,which is helpful for the design of the scissor structures of deformable wing of the water air amphibious robot.

关 键 词：两栖机器人 可变形翼 剪叉机构 优化设计 遗传算法 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]