基于NSGA-Ⅱ优化算法的三栖机器人结构设计

Design on Structure of Triphibious Robot Based on the NSGA-Ⅱ Algorithm

开发了一款三栖机器人。机器人以螺旋机构为主要动力源,以被动轮为陆地行走机构,实现三栖运动。基于NSGA-II多目标优化算法,量化机器人整体结构设计指标,构建机器人参数优化模型,求得最优解空间。根据需求从最优解空间中选取适用于本设计的结构参数完成整体结构设计,并在ANSYS中验证了结构设计的合理性。

With the development of science and technology,the motion space of the robot is more and more broad;the motion pattern of the robot develops from a single motion space to a multi-habitat environment.As the background,a triphibious robot is designed.The main power source of the robot is the screw mechanism.The land walking organization is passive wheels.Based on the NSGA-II algorithm,we design the structure parameters of the robot,build the optimization model,and get the optimal solution space.The structure parameters are selected from the optimal solution space according to the demand,and be verified by the hydrodynamic analysis software ANSYS.