【摘要】 研究了一种轮式全驱动管道机器人质量的优化问题,提出一种基于遗传算法的质量选择的优化模型,分析了轮式管道机器人在满足拖动能力、行进速度等性能指标的要求下,通过轮径、轮距、转矩、转速等参数的改变,能够使机器人的质量得到一个较小、较优的数值,实现机器人的整机轻巧,使用方便,降低制造成本。采用遗传算法,通过C++编制仿真程序,仿真结果证明了该算法是有效的、稳定的。通过机械系统动力学仿真分析软件ADAMS进行拖动力仿真试验,证明了该优化方法的正确性。更多还原

【Abstract】 Through studying the mass optimization problem of a full whell drived pipe robot, the optimization model of mass selection that was based on genetic algorithm was put forward.Through changing the diameter of the wheel ,the distance between wheels ,the torque of the wheel and the revolving speed of the wheel under the requirement of tracting and running speed of the robot, a smaller and optimum numeric value of the robot s mass could be ontained, with its lightness , convenience for use, and reduction of the production cost. A genetic algorithm based procedure was writeen in C++. The simulation result shows that the algorithm was effective and steady. Through traction simulation tests under mechanical dynamics analysis and simulation software ADAMS, the optimization method as proved correctly.更多还原