摘要
针对机器人在配置评价与选型中存在的需求主观性与离散性问题,提出了模糊需求聚类与语言有序加权平均(linguistic ordered weighted averaging,LOWA)算子的耦合方法。利用模糊聚类分析确定需求间的亲疏关系,通过模糊需求标准化实现对需求特征的定量分析;基于LOWA算子将相对语言变量向绝对语言变量转化,采用综合指数评价法确定满足要求的机器人配置方案,为机器人的配置选型提供了新思路。以液压四足机器人选型为例,在多需求非结构化环境下,该算法为机器人腿部关节配置选择提供了更科学可靠的遴选方法。
Aiming at the problem of demand subjectivity and discreteness in configuration evaluation and selection of robots,a coupling method of fuzzy demand clustering and linguistic ordered weighted averaging (LOWA) operator is proposed.Fuzzy clustering analysis was used to determine the relationship between needs,and quantitative analysis of demand characteristics was realized by standardization of fuzzy needs.Based on LOWA operator,the relative linguistic variables were transformed into absolute linguistic variables.And the comprehensive index evaluation method was used to determine the robot configuration scheme that meets the requirements,which provides a new idea for the configuration and selection of robots.Taking the selection of hydraulic quadruped robot as an example,this algorithm provides a more scientific and reliable selection method for the selection of robot leg joint configuration in multi-demand unstructured environment.
作者
路可欣
秦建军
江磊
林键
高磊
LU Kexin;QIN Jianjun;JIANG Lei;LIN Jian;GAO Lei(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Key Laboratory of Performance Guarantee on Urban Rail Transit Vehicles,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;China North Vehicle Research Institute,Beijing 100072,China)
出处
《中国科技论文》
CAS
北大核心
2019年第6期691-697,共7页
China Sciencepaper
基金
国家自然科学基金资助项目(91748211)
北京市教委科研计划项目(KM201610016003)
北京市属高校基本科研业务费专项资金资助项目(X18142)
关键词
模糊需求聚类
语言有序加权平均
产品质量屋
液压四足机器人
产品元件配置
fuzzy demand clustering
linguistic ordered weighted averaging (LOWA)
product quality house
hydraulic four-legged robot
product component configuration
