부산대학교 도서관

In view of multi-objective optimization problem in structure design of mine crawler robot with two rocker arms, a structure optimization design scheme of mine crawler robot with two rocker arms based on GA-PSO algorithm was proposed. Influence factors of maximum obstacle crossing height of robot and centroid position change are obtained through geometry and kinematics analysis of obstacle crossing process of the robot. According to work requirements of mine robot, constraint conditions are established to get multi-objective optimization function, and the multi-objective optimization problem is transformed into a single-objective optimization problem by introducing weight coefficient. GA-PSO algorithm is used to solve the single-objective optimization problem, and the optimal structural parameters of the robot are obtained: the quality of the car body is 10 kg, the quality of the rocker arm is 5 kg, the distance between front and rear wheels is 600 mm, the radius of drive wheel is 115 mm. The simulation results show that the energy consumption of the robot adopting above parameters is lower than other design schemes, and the target motion is easier to achieve.