仿生六足机器人单腿液压缸铰点位置优化设计

Optimal design of hinge point position of bionic hexapod robot single leg hydraulic cylinder

针对仿生六足机器人腿部液压缸铰点位置的寻优问题,本文以腿部液压缸安装空间及其受力作为目标函数,通过正交试验得到了大小腿液压缸铰点之间的相对长度,初步确定液压缸铰点的位置,并采用极差分析法确定了液压缸受力作为后续优化的主导因素。建立以大小腿液压缸受力总和为目标函数,通过遗传算法及fmincon函数进行进一步优化,得到了大小腿液压缸的最优铰点位置,其受力总和减小到3.28kN。铰点的优化设计延长了腿部结构的寿命,为后续设计奠定了基础。

In order for solving optimization problem of hinge point position of bionic hexapod robot leg hydraulic cylinder, this paper takes the installation space of leg hydraulic cylinder and its force as objective function, the relative length between hinge points of hydraulic cylinder of upper and lower legs is obtained by orthogonal experiment. The objective function of force sum for large and small hydraulic cylinders is established. Through genetic algorithm and fmincon function optimization, the optimal hinge point position of large and small hydraulic cylinders is obtained, and the total force is reduced to 3.28kN, which extend the life of leg structure and lay the foundation for subsequent design.