【摘要】 移动机构构型对轮式服务机器人的静态稳定性、动态平稳性、驱动力等具有重要影响。以双轮差速驱动的六轮移动底盘为研究对象,分析移动机构构型中车轮布局与移动底盘静态稳定性、动态平稳性、越障驱动力及转弯驱动力的相互关系;在此基础上构建了面向车轮布局的多目标优化模型,利用MATLAB遗传算法优化工具箱进行多目标优化求解;以移动底盘的俯仰角、侧倾角及驱动力矩作为性能评价指标,运用ADAMS虚拟样机技术对优化前、后的移动底盘进行运动仿真。仿真结果表明,优化后的移动底盘的俯仰角与侧倾角分别减少了17.6%和32.2%,驱动力矩平均值与均方根值下降了3.7%和4.3%,从而有效提升了移动底盘的运行平稳性及续航能力,也验证了所建立的多目标优化模型的正确性和有效性。更多还原

【Abstract】 The moving mechanism configuration has a major impact on the static stability,dynamic stability and driving force of the wheeled service robot. Taking the six-wheel mobile underpan as the object,the relationships between the wheel layout and the static stability,dynamic stability,driving force to cross obstacle and turn are analyzed. A multi-objective optimization model for wheel layout is established and the optimal solution is derived by using MATLAB genetic algorithm toolbox. Assuming the factors of pitch angle,roll angle and drive torque as evaluation indicators,motion simulation of the mobile underpan is carried out by the virtual prototyping technology. The results show that the pitch angle and roll angle after optimization are decreased by17. 6% and 27. 2%,respectively. The average value and mean square of drive torque are decreased by 2. 8%and 3. 6%,respectively. It is beneficial to the transmission performance and endurance of the mobile underpan. The results also verify the correctness and validity of the established multi-objective optimization model.更多还原