抛投式机器人低过载弹射装置优化设计

Optimization of Low-Acceleration Launcher for Portable Robot

为降低抛投式机器人在弹射过程中受到的冲击,实现低过载弹射,设计了高低压弹射装置,建立了高低压弹射内弹道模型.提出距离相关的改进文化算法,根据信仰元优良率和信仰元与父辈个体变量之间的距离寻找目标信仰元,指导个体进化.利用改进的文化算法对高低压弹射装置进行优化设计,优化计算结果表明高低压弹射过载大幅度降低,距离相关的改进文化算法不容易陷入局部最优解,弹射试验验证了优化效果.

High-low pressure launcher and its mathematical model were designed to lower the shock and acceleration of portable robot in the launch process.A cultural algorithm based on distance was put forward.The object belief cell was determined according to the excellent parent rate and the distance between belief cell and parent agent.The evolution of agent was instructed by the object belief cell.The high-low pressure launcher was optimized by the distance-correlative cultural algorithm.The result of optimization which was validated by launch experiments shows that the optimized high-low pressure launcher can lower the acceleration and the distancecorrelative cultural algorithm is hardly fall into local optimal solution.