Optimization of the Changed Diameter Mechanism in In-pipe Clearing Robot based on the NSGA-Ⅱ Algorithm
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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.
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Key words:
- pipe robot /
- mechanisms /
- optimization /
- algorithm
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