救援探测机器人动力系统设计

Design of Power System of Rescue and Detection Robot

针对救援探测机器人在防爆条件下动力匹配设计的难点,首先通过对救援探测机器人的动力系统进行分析研究,确定了动力系统优化的关键部件及其参数决策范围,建立动力系统的多目标优化模型。其次,利用PlatEMO多目标优化平台,采用非支配排序的NSGA-II遗传算法对救援探测机器人动力参数优化问题进行求解。最后,参照求解结果设计救援探测机器人的动力系统,并制造样机进行测试,结果表明救援探测机器人的动力性能参数满足设计要求。

Aiming at the difficulty of power matching design for rescue and detection robot under explosion-proof conditions,firstly,by analyzing and studying the power system of the rescue and detection robot,the key components and parameter decision-making scope for optimizing the power system have been determined,established a multi-objective optimization model for power system.Secondly,using the PlatEMO multi-objective optimization platform,the non dominated sorting NSGA-II genetic algorithm was used to solve the optimization problem of dynamic parameters for rescue and detection robot.Finally,designed the power system parameters of the rescue and detection robot based on the solution results,and a prototype was manufactured for testing.The results showed that the power performance parameters of the rescue and detection robot meet the design requirements.