Performance Analysis And Multi-Objective Intelligent Optimization For Robot Driver’ Manipulation Mechanism

Robot driver is a kind of robot that can be used instead of the human driver to realize the automatic driving function.By being installed in the cab of the vehicle without requiring any significant vehicle modifications,the robot driver can turn an ordinary vehicle into an autonomous vehicle.Therefore,the technology can be applied to vehicle test and unmanned vehicle fields.The research of performance analysis and multi-objective intelligent optimization for robot driver’ manipulation mechanism is based on the structural design on the robot driver of the research group.Firstly,Structure and working principle of the manipulation mechanisms is analyzed.According to the structural characteristics of each manipulation mechanism of the driving robot,the kinematic model of is established,and the relationship of the position,velocity and acceleration between the end-effector and the active joint’s are analyzed.Later,the singularity analysis and task workspace analysis of each mechanism are carried out.Secondly,the dynamic model of each manipulation mechanism is established by using the Lagrangian method,and the influence of the velocity,acceleration and load force at the end of the mechanism on the driving force of the active joints is analyzed.The validity of the dynamic model of the mechanisms is verified by the comparative analysis of numerical calculation and virtual prototype simulation.Thirdly,on the basis of kinematic analysis and dynamic model,both the local and global performance evaluation indices of the manipulation mechanisms are defined,and the performance analysis of each mechanism over the task workspace is carried out based on the performance indices.Finally,taking the global performance indices as the objective functions,the multi-objective optimization models of manipulation mechanisms are established,and an adaptive genetic algorithm based on the genetic algorithm and the concept of population diversity is proposed to solve the optimization models.Analysis and verification of optimization results show that the comprehensive performance of the manipulation mechanisms has been greatly improved.