水下机器人耐压舱结构设计及参数优化

Structural design and parameter optimization of underwater robot pressure cabin

针对水下机器人耐压舱质量过大且不易拆装的问题,文章设计了一种由球形壳体及圆板形封头配合套筒式连接的耐压舱结构,并利用ANSYS Workbench对耐压舱进行了强度仿真分析,得出了其最大形变量、所受最大等效应力及质量。再以三者为优化目标函数,通过最优拉丁超立方试验设计配合Non-Parametric Regression近似模型,并基于NSGA-Ⅱ算法对耐压舱进行了多目标优化。优化后耐压舱最大形变量及所受最大等效应力均满足设计要求,且质量减小了17.06%。完成了水下机器人整机组装并进行了湖测试验,实验结果显示耐压舱并无泄漏,同时整机耗电量也在设计范围内,证明优化后耐压舱强度及质量满足设计要求。

A pressure cabin structure consisting of a spherical shell and a disc-shaped head with a sleeve connection is designed to solve the problems of heavy weight and complex disassembling of the underwater robot pressure cabin.Strength simulation analysis of the pressure cabin was conducted by using ANSYS Workbench to obtain its maximum deformation quantity,maximum equivalent stress and mass.Taking above three as the optimized objective function,multi-objective optimization of the pressure cabin was performed through optimal Latin hypercube test design combined with the Non-Parametric Regression approximate model based on NSGA-II algorithm.The maximum deformation and the maximum equivalent stress of the pressure cabin after optimization can meet the design requirements,with a decrease in the mass of 17.06%.Then the assembly of the underwater robot was completed and a lake test was carried out.The experimental results show that there is no leakage in the pressure cabin and the power consumption of the whole machine is also within the design scope,which proves that the strength and quality of the optimized pressure cabin can meet the design requirements.