| Optimization Design |
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| Analysis and optimization of all-terrain mobile robot body structure |
| ZHENG Ming-jun1, ZHAO Chen-lei1, WU Wen-jiang2, YANG She1 |
1.College of Mechanical Engineering， Shijiazhuang Tiedao University， Shijiazhuang 050043， China
2.Academic Affairs Office， Shijiazhuang Tiedao University， Shijiazhuang 050043， China |
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Abstract To improve the mechanical performance of the all-terrain mobile robot body structure, an optimization method combining multi-body dynamics, finite element analysis and orthogonal test is proposed. Aiming at the full-load bending and torsion conditions of the all-terrain mobile robot, the external load of this mobile robot during motion was obtained by the multi-body dynamics analysis, and the dynamic mechanical performance parameters of the body structure were obtained by combining the finite element analysis, so as to verify the mechanical performance of the body structure under extreme conditions. Based on the orthogonal test of four factors and three levels, the influence of the thickness of bottom plate, the thickness of the suspension support, the length of the suspension support stiffener and the thickness of the raised support stiffener on the maximum stress, maximum deformation and mass of the all-terrain mobile robot was studied. The results of orthogonal test were analyzed by the grey correlation analysis method. Through the comparison of grey correlation degree of all factors, the best optimization scheme for the all-terrain mobile robot body structure was obtained as follows: the thickness of bottom plate was 5 mm, the thickness of the suspension support was 2 mm, the length of suspension support stiffener was 65 mm and the raised support was added stiffener with thickness of 2 mm. The analysis results showed that compared with the original scheme, the optimized all-terrain mobile robot body reduced the mass by 6.93%, while the maximum stress was reduced by 12.47%, and the maximum deformation was reduced by 41.69%. It indicated that this optimization scheme could improve the performance of body structure and reduce the body mass and the power consumption, which verified that the effectiveness of the proposed optimization method. The research results can provide a reference for the dynamic mechanical performance analysis and optimization of mechanical structures.
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Received: 27 May 2020
Published: 28 April 2021
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全地形移动机器人车身结构分析与优化
为了提高全地形移动机器人车身结构的力学性能，提出了一种结合多体动力学、有限元分析与正交试验的优化方法。针对全地形移动机器人的满载弯曲和扭转工况，利用多体动力学分析获得了该移动机器人车身在运动中所受的外部载荷，并结合有限元分析获得了车身结构的动态力学性能参数，以验证极限工况下车身结构的力学性能。基于四因素三水平正交试验，研究了底板厚度、悬架支座厚度、悬架支座加强筋长度和增高支柱加强筋厚度对全地形移动机器人车身最大应力、最大变形量和质量的影响。利用灰色关联分析法对正交试验结果进行分析。通过对比各因素的灰色关联度获得了全地形移动机器人车身结构的最佳优化方案：底板厚度为5 mm、悬架支座厚度为2 mm、悬架支座加强筋长度为65 mm和增高支柱增设2 mm厚加强筋。分析结果表明，相较于原始方案，优化后全地形移动机器人车身在质量减小6.93%的同时，最大应力减小了12.47%，最大变形量减小了41.69%，说明该优化方案可在提高车身结构性能的同时减小车身质量和降低整车功耗，验证了所提出的优化方法的有效性。研究结果可为机械结构的动态力学性能分析与优化提供参考。
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