Multi-objective Optimization Design of Moving Mechanism Configuration for Two-wheel Differential Driving Service Robot
The moving mechanism configuration has a major impact on the static stability,dynamic stability and driving force of the wheeled service robot. Taking the six-wheel mobile underpan as the object,the relationships between the wheel layout and the static stability,dynamic stability,driving force to cr...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2018-01-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.02.009 |
| _version_ | 1797819180806832128 |
|---|---|
| author | Zhang Xiaoli Liang Dong Shan Xinping Chen Bingkui |
| author_facet | Zhang Xiaoli Liang Dong Shan Xinping Chen Bingkui |
| author_sort | Zhang Xiaoli |
| collection | DOAJ |
| description | The moving mechanism configuration has a major impact on the static stability,dynamic stability and driving force of the wheeled service robot. Taking the six-wheel mobile underpan as the object,the relationships between the wheel layout and the static stability,dynamic stability,driving force to cross obstacle and turn are analyzed. A multi-objective optimization model for wheel layout is established and the optimal solution is derived by using MATLAB genetic algorithm toolbox. Assuming the factors of pitch angle,roll angle and drive torque as evaluation indicators,motion simulation of the mobile underpan is carried out by the virtual prototyping technology. The results show that the pitch angle and roll angle after optimization are decreased by17. 6% and 27. 2%,respectively. The average value and mean square of drive torque are decreased by 2. 8%and 3. 6%,respectively. It is beneficial to the transmission performance and endurance of the mobile underpan. The results also verify the correctness and validity of the established multi-objective optimization model. |
| first_indexed | 2024-03-13T09:19:10Z |
| format | Article |
| id | doaj.art-5ae5892a7b044cd183a49fca8d13b71c |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:19:10Z |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-5ae5892a7b044cd183a49fca8d13b71c2023-05-26T09:47:21ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142455129934657Multi-objective Optimization Design of Moving Mechanism Configuration for Two-wheel Differential Driving Service RobotZhang XiaoliLiang DongShan XinpingChen BingkuiThe moving mechanism configuration has a major impact on the static stability,dynamic stability and driving force of the wheeled service robot. Taking the six-wheel mobile underpan as the object,the relationships between the wheel layout and the static stability,dynamic stability,driving force to cross obstacle and turn are analyzed. A multi-objective optimization model for wheel layout is established and the optimal solution is derived by using MATLAB genetic algorithm toolbox. Assuming the factors of pitch angle,roll angle and drive torque as evaluation indicators,motion simulation of the mobile underpan is carried out by the virtual prototyping technology. The results show that the pitch angle and roll angle after optimization are decreased by17. 6% and 27. 2%,respectively. The average value and mean square of drive torque are decreased by 2. 8%and 3. 6%,respectively. It is beneficial to the transmission performance and endurance of the mobile underpan. The results also verify the correctness and validity of the established multi-objective optimization model.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.02.009Moving mechanism configuration;Wheel layout;Multi-objective optimization;Virtual prototype simulation |
| spellingShingle | Zhang Xiaoli Liang Dong Shan Xinping Chen Bingkui Multi-objective Optimization Design of Moving Mechanism Configuration for Two-wheel Differential Driving Service Robot Jixie chuandong Moving mechanism configuration;Wheel layout;Multi-objective optimization;Virtual prototype simulation |
| title | Multi-objective Optimization Design of Moving Mechanism Configuration for Two-wheel Differential Driving Service Robot |
| title_full | Multi-objective Optimization Design of Moving Mechanism Configuration for Two-wheel Differential Driving Service Robot |
| title_fullStr | Multi-objective Optimization Design of Moving Mechanism Configuration for Two-wheel Differential Driving Service Robot |
| title_full_unstemmed | Multi-objective Optimization Design of Moving Mechanism Configuration for Two-wheel Differential Driving Service Robot |
| title_short | Multi-objective Optimization Design of Moving Mechanism Configuration for Two-wheel Differential Driving Service Robot |
| title_sort | multi objective optimization design of moving mechanism configuration for two wheel differential driving service robot |
| topic | Moving mechanism configuration;Wheel layout;Multi-objective optimization;Virtual prototype simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.02.009 |
| work_keys_str_mv | AT zhangxiaoli multiobjectiveoptimizationdesignofmovingmechanismconfigurationfortwowheeldifferentialdrivingservicerobot AT liangdong multiobjectiveoptimizationdesignofmovingmechanismconfigurationfortwowheeldifferentialdrivingservicerobot AT shanxinping multiobjectiveoptimizationdesignofmovingmechanismconfigurationfortwowheeldifferentialdrivingservicerobot AT chenbingkui multiobjectiveoptimizationdesignofmovingmechanismconfigurationfortwowheeldifferentialdrivingservicerobot |