【摘要】 为了实现机器人在地下空间低能耗的灵活运动，文中设计了一种对称悬架混联轮腿机器人，并针对其腿部参数优化问题，提出了一种基于沙猫群算法的性能均衡优化方法(简称均衡优化方法)。结合对称四边形机构与悬架系统，设计了一种对称悬架混联式轮腿结构，并建立其运动学和动力学模型，分析了腿部杆长对单轮腿运动空间和灵活性指标的影响，预优化确定了腿部初始杆长均为0.3 m。在满足轮腿越障规划空间及高灵活性的基础上，为了实现低能耗，建立了轮腿性能均衡优化评价指标，采用均衡优化方法对腿部杆长进行了优化研究。数值计算结果表明：大腿和小腿杆长最优值分别为0.23 m和0.3 m,该轮腿运动能耗为23.18 J,运动空间为0.132 2 m~2,灵活性指标变化范围为(0.2,1)。优化后灵活性保持不变，运动空间减小了24.54%,能耗降低了22.60%,验证了该方法合理有效，为轮腿机器人的设计与优化提供了一种新的思路。更多还原

【Abstract】 In this article, in order to ensure that the robot can move flexibly in the underground space with low energy consumption, efforts are made to design a symmetrical suspension hybrid wheel-legged robot; the performance equilibrium optimization method(referred to as the equilibrium optimization method) is proposed based on the sand cat swarm optimization algorithm, so as to optimize the wheel-legged structure parameters. In combination with the symmetric quadrilateral mechanism and the suspension system, a symmetric suspension hybrid wheel-legged structure is designed, and the kinematics and dynamics models are set up. Efforts are made to explore the influence of the leg length on the single wheel-legged robot’s motion space and flexibility index. The initial leg length of 0.3 m is determined by pre-optimization. Based on the reasonable planning space and high flexibility of wheel-legged obstacle crossing, in order to achieve low energy consumption, the evaluation index of wheel-legged performance equilibrium optimization is identified, and the leg length is optimized with the help of the equilibrium optimization method. The results of numerical calculation show that the optimal values of the thigh and calf rod lengths are 0.23 m and 0.3 m respectively. The wheel-legged energy consumption is 23.18 J, the motion space is 0.132 2 m~2, and the flexibility index ranges from(0.2,1). After optimization, the flexibility remains unchanged, the motion space reduces by 24.54%, and the energy consumption reduces by 22.60%. It has proved that this method, which is reasonable and effective, provides a new idea for design and optimization of wheel-legged robots.更多还原