运用Matlab的排爆机器人手爪优化设计

Optimal design of bomb disposal robot claw based on Matlab

讨论一种排爆机器人手爪的设计方法,该手爪采用普通圆柱蜗轮蜗杆机构传动。为减小手爪自重,以手爪传动机构体积最小为目标函数,以强度、几何参数等要求为约束条件,建立相应的数学模型,以Matlab为求解平台进行优化设计,给出操作步骤,并求得最优化尺寸,在保证手爪功能的前提下,减轻手爪的自重,达到优化的目的。

Designed a kind of bomb disposal robot claw. The claw was driven by a common cylindrical worm gear. In order to reduce the self-weight,a mathematical model was set up. The minimum volume of the worm-gear was taken as the objective function, and the requirement of the intensity and geometry was taken as the constraint condition. Matlab was used as the solution platform ,and gave the operation process and the calculation results. Under the precondition of ensuring the function of the claw, the self-weight is reduced successfully ,and the aim of optimization is achieved.