架空线路绝缘机器人优化设计

Optimized Design for Overhead Line Insulation Robot

架空线路机器人自重影响机器人上线的难易程度及整体能耗。针对一种新型架空线路绝缘包覆机器人,采用拓扑优化与多目标优化组合实现机器人的轻量化设计。首先,介绍绝缘机器人的结构原理,提取影响机器人优化的相关因素。然后,建立关键部件的子结构拓扑模型,以灵敏度过滤后的二维分布结果作为多目标优化模型输入。其次,提出一种改进多目标粒子群算法,通过世代距离与非劣解间距评价了改进算法的优异性。最后,采用MATLAB-ANSYS耦合的改进多目标算法对整体模型进行模态频率与质量优化,其Pareto最优解表明优化后机器人的固有频率提高了16.5Hz,重量减少了40.2%。

The weight of the overhead line robot affects the difficulty of the robot on-line and the energy consumption.Aiming at a new type of overhead line insulation robot,topology optimization and multi-objective optimization were used to achieve structural optimization.First,the structure of the insulation robot was analyzed to extract the design variables that affect the robot’s optimization target.Then the substructure topology model of the key structure was established to analyze material distribution.Otherwise,an improved multi-objective particle swarm algorithm was proposed.The advantages of the improved algorithm were evaluated through generation distance and space.The two-dimensional distribution result by sensitivity filtering was used as the input for multi-objective optimization model.Through the improved multi-objective algorithm,the MATLAB-ANSYS coupling model was used to optimize the First-order modal frequency and weight of the overall robot model.The selected Pareto optimal solution shows that the First-order modal frequency of the robot after optimization increases by 16.5Hz and the weight is reduced by 40.2%.