机电工程技术2025，Vol.54Issue(4)：142-145,160,5.DOI:10.3969/j.issn.1009-9492.2025.04.025
模块化机器人构型多目标优化设计
Multi-objective Optimization Design of Modular Robot Configurations
摘要
Abstract
To address how to quickly design robots for specific tasks,a performance-driven multi-objective optimization method for modular robot configuration is proposed.A multi-objective optimization model for modular robot configurations has been constructed,with total mass,unit workspace,and global manipulability.Addressing the issue of limited link dimension choices in configuration optimization,an integer coding scheme for optimization variables has been adopted,allowing continuous link dimension selection within a specified range.By comparing optimization instances of discrete and continuous dimensions and measuring the dispersion of the solution sets through the average Euclidean distance among all points on the pareto front,results show a 12.89%reduction in dispersion for continuous dimension instances,confirming the effectiveness of the continuous dimension approach.Analysis of configurations on the pareto front using the Pearson correlation coefficient reveals the highest correlation between unit workspace and global manipulability at 0.701,while the correlation between total mass and unit workspace is only 0.007.Workspace simulation analysis of two configurations from the solution set in MATLAB shows that,with the same total mass,configuration A reduces the unit length workspace by 12.86%compared to configuration B but increases global manipulability by 5.24%.The configurations designed by this method in the solution set all meet the task requirements.关键词
模块化机器人/遗传算法/构型优化Key words
modular robot/genetic algorithm/configuration optimization分类
信息技术与安全科学引用本文复制引用
周育华,甘文峰,廖昭洋,黄海滔,韦文斐,陈烽民..模块化机器人构型多目标优化设计[J].机电工程技术,2025,54(4):142-145,160,5.基金项目
广州市重点领域研发计划2021年度"新一代信息技术"重大科技专项(202103020004) （202103020004）
