行走式爬壁机器人元器件组合优化设计

Optimization Design of Component Combination in Walking Wall-Climbing Robot

针对实现机器人运动功能的元器件类型和其组合间的关联和制约关系,提出一种基于蚁群算法的行走式爬壁机器人元器件组合优化设计方法。依据爬壁机器人工作原理进行功能分解及元器件选用,建立功能元器件矩阵;按照功能实现程度对元器件及元器件间匹配程度进行评价,获得元器件匹配度矩阵及设计方案评价模型;针对设计方案评价模型及优化目标,使用蚁群算法寻求元器件匹配度矩阵中最优解;并开展优化设计后机器人与优化前机器人的对比实验研究。实验结果表明:优化后的机器人在研制成本降低的基础上,壁面运动性能及稳定性显著提升。

Aiming at the relations and constraints between the types of components and their combinations to realize the robot’s motion function,a component combination design and optimization method based on ant colony algorithm was proposed.According to the working principle of the wall-climbing robot,the function was decomposed and substituted into all optional components to establish a matrix of functional components;the analytic hierarchy process was used to evaluate the matching degree between components and components according to the degree of function realization,the component matching matrix based on the functional component matrix and the design evaluation model was obtained;for the design evaluation model and optimization target,ant colony algorithm was improved,the optimal solution in the component matching degree matrix was found;finally,a comparative experimental study was carried out on the robot after optimization design and before optimization.The experimental results show that based on reducing the development cost,the wall motion performance and stability of the optimized robot are significantly improved.