摘要
针对光伏清扫机器人质量较大、平稳性差及运行过程中容易发生偏摆等问题,首先对光伏清扫机器人结构进行了优化设计;其次在保证机器人结构的强度和刚度情况下,实现轻量化设计。以车架杆子厚度、防偏架厚度以及上下端板子的厚度作为设计变量,以机器人质量最轻、等效应力最小和变形最小作为目标函数,通过Box-Behnken试验方法设计了57个样本点,构建了响应面近似数学模型,并采用多目标遗传算法求最优解。结果表明:优化后的光伏清扫机器人的质量降低到18.35 kg,降低了30.9%,实现对机器人的轻量化设计。
Aiming at the problems of large mass, poor smoothness and deflection during operation of the cleaning robot, firstly, the structure of the photovoltaic cleaning robot was optimized. Secondly, in order to ensure the strength and stiffness of the robot structure, lightweight design is realized. With the thickness of the frame pole, the thickness of the anti-deflection frame and the thickness of the upper and lower end plates as the design variables, and the lightest mass, minimum equivalent stress and minimum deformation of the robot as the objective function, 57 sample points were de-signed by Box-Behnken test method. The response surface approximate mathematical model was constructed, and the optimal solution was obtained by multi-objective genetic algorithm. The re-sults show that the mass of the optimized photovoltaic cleaning robot is reduced to 18.35 kg, which is reduced by 30.9%, realizing the lightweight design of the robot.
出处
《建模与仿真》
2023年第6期5314-5323,共10页
Modeling and Simulation
