Optimization of the Changed Diameter Mechanism in In-pipe Clearing Robot based on the NSGA-Ⅱ Algorithm
-
摘要: 管道清灰机器人变径机构尺度影响机构的运动性能及驱动性能,变径机构尺度优化可有效解决尺寸综合问题。提出了变径机构多目标尺度综合,以变径机构关键零件受力和驱动件运动范围为优化目标建立优化模型,基于快速含有精英策略的非支配排序遗传算法(Non-dominated sorting genetic algorithm Ⅱ,NSGA-Ⅱ)求解多目标优化Pareto最优解。计算结果表明:多目标优化后的变径机构在力学性能和运动范围上优于经验设计,不需重复计算可根据设计要求和工程经验权衡选取满足不同要求的优化结果。Abstract: The changed diameter mechanism in the in-pipe clearing robot influnence on motion performances and drive performances,the mechanism optimzation can solve mechanism systhesis probleme efficiently.on the base of analysing kinematics and mechanics,multi-objective dimension synthesis of the changing diameter mechanism is put forword.Using force on the key part and movement range of the drive part of the changed diameter mechanism as optimization objectives,multi-objective optimization Pareto optimal solutions using non-dominated sorting genetic algorithm Ⅱ(NSGA-Ⅱ) is solved.The optimization results show that the optimal changed diameter mechanism in the in-pipe clearing robot has a good mechanics performance and range of movement.Without repeating calculation,the optimization results which meet different requirements is selected according to design requriements and engineering experiences.
-
Key words:
- pipe robot /
- mechanisms /
- optimization /
- algorithm
-
[1] Horodinca M，Doroftei I，Mignon E，et al. A simple architecturefor in-pipe inspection robots[A]. Colloquium on Mobile andAutonomous Systems，10 Years of the Fraunhofer IFF[C]，Magdeburd，Germany，2002:61～64 [2] Anthierens C，Ciftci A，Betemps A. Design of an electro pneu-matic micro robot for in-pipe inspection[A]. Industrial Elec-tronics，1999，Proceedings of the IEEE International Sympo-sium on Bled[C]，Slovenia，1999:968～972 [3] 邓宗全，陈军，姜元生等. 六独立轮驱动管内检测牵引机器人[J]. 机械工程学报，2005，41(9):68～72 [4] Chio H R，Ryew S M. Robotic system with active steering capabil-ity for internal inspection of urban gas pipelines[J]. Mechatron-ics，2002，12(5):716～736 [5] 张淑珍，黄建龙，李春玲. 改进型管道清灰机器人系统研究[J]. 机械与电子，2009，12(12):62～64 [6] Sergiu-Dan Stan，et al. Genetic Algorithms Multi-objective Opti-mization of a 2 DOF Micro Parallel Robot[A]. Proceedings ofthe 2007 IEEE International Symposium on ComputationalIntelligence in Robotics and Automation Jacksonville[C]，Hsinchu，June 20～23，2007:522～527 [7] Deb K，et al. A fast and elitist multi-objective genetic algorithm:NSGA-II [J]. IEEE Transactions on Evolutionary Comput-ation，2002，6(2):182～197 [8] 张超勇，董星，王晓娟，李新宇，刘琼. 基于改进非支配排序遗传算法的多目标柔性作业车间调度[J]. 机械工程学报，2010，46(11):156～166 -
点击查看大图
计量
- 文章访问数: 93
- HTML全文浏览量: 15
- PDF下载量: 1
- 被引次数: 0
下载:
