| As a special vehicle,the 6×6 wheeled robot has been widely used in logistics,medical treatment,search and rescue and transportation.Due to the complexity of the working environment of wheeled robot,its smoothness plays a crucial role in its working process.In recent years,the country has put forward new requirements in unmanned equipment,artificial intelligence and other aspects.At present,it is difficult to solve the kinematics and dynamics of wheeled robots comprehensively and accurately by using traditional methods.During the timekeeping of carrier suspension erection,the determination of some parameters should be carried out through repeated empirical analysis and calculation,sample vehicle experiment and correction,etc.The workload is large and the time is long.For the problems in the above design,the suspension parameters of the wheeled robot are optimized by studying the vertical dynamics equation of the wheeled robot and the intelligent algorithm,which provides a certain theoretical basis for the research of the suspension system of the wheeled robot and has a strong practical value.The specific research process of this paper is as follows:1.Study the vertical dynamic mathematical vibration model of 6×6 wheeled robot.The distributed driven wheeled robot was selected as the research object,and the vertical dynamics model of the nine-degree-of-freedom machine was established based on the Lagrange equation to analyze the suspension vibration characteristics of the wheeled robot.2.Establish road simulation signal.The "trigonometric series" method is used to construct the road surface simulation signal.Considering the coherence of the left and right sides of the road surface and the coupling of the whole machine;Considering the delay of simulated road surface signals of middle and rear wheels relative to front wheel pairs,a simulation model of robot random road surface was built in MATLAB,laying a foundation for verifying the correctness of the dynamic equation.3.Wheeled robot machine model is established in the ADAMS,the pavement analog signals into ADAMS road file used in the simulation,analysis of the machine in the vibration condition of pavement grade,wheeled robot experiment platform,at the same time to the experimental data and the simulation results in MATLAB/Simulink and ADAMS,comparingthe simulation results of the three machine nine degrees of freedom dynamic model is proved to be correct.4.Optimize the suspension parameters of wheeled robot.Combined with the data such as the acceleration of the center of mass obtained by MATLAB/Simulink,the root mean square value of each data was solved,and the normalized algorithm was used to carry out multi-objective optimization of each index.Kriging interpolation method was used to establish the mapping relationship between relevant data and suspension stiffness and damper coefficient,and genetic algorithm was used to obtain the optimal solution of the smoothness model,and the suspension stiffness and damper coefficient were optimized.esults show that the suspension stiffness K of the optimal solution is 26258 N/m,the best solution of the shock absorber damping C for 1567 N m/s.Through concrete application,the nine-degree-of-freedom model established in this paper can meet the actual condition analysis of wheeled robots and meet the actual needs of enterprises.The research results can be used as reference and guidance for improving the smoothness of wheeled robot,and have good engineering application value. |
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