一种模块化机器人的拓扑构型优化

中国机械工程 ›› 2014, Vol. 25 ›› Issue (12): 1574-1580.

一种模块化机器人的拓扑构型优化

高文斌1,2;王洪光1;姜勇1;潘新安1,2

1.中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳,110016
2.中国科学院大学,北京,100049

出版日期:2014-06-26 发布日期:2014-06-27
基金资助:
国家自然科学基金资助项目(60905048);机器人学国家重点实验室自主课题(RLZ200802)

Topology Configuration Optimization for a Modular Robot

Gao Wenbin1,2;Wang Hongguang1;Jiang Yong1;Pan Xin'an1,2

1.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,110016
2.University of Chinese Academy of Sciences,Beijing,100049

Online:2014-06-26 Published:2014-06-27
Supported by:
National Natural Science Foundation of China（No. 60905048）

摘要/Abstract

摘要：

采用遗传算法对一种关节型模块化机器人系统面向任务的拓扑构型优化设计问题进行了研究。对任意机械臂拓扑构型组成模块的类型、参数、数量及模块间连接顺序和装配方位等信息进行了二进制编码。按照性质不同将设计要求划分为刚性要求、柔性要求及刚性+柔性要求，对不满足刚性要求的拓扑结构通过过滤器处理以提高效率,对其他拓扑结构进行构型评价并以评价结果的加权和的形式建立构型评价函数。以自由度最小为主要优化目标，结合遍历法和遗传算法给出一种拓扑构型优化设计方法。构型优化实验验证了该方法的有效性。

关键词: 模块化机器人, 可重构, 构型优化, 遗传算法

Abstract:

A study of task-oriented topology configuration optimization for a joint type modular robot system was carried out based on genetic algorithm. The topology configuration information such as the module types, parameters, quantity, assembling sequence and orientations of any given manipulator were represented by binary coding. Design requirements were divided into hard ones, soft ones and hard+soft ones according to their properties. The topology structure which did not meet the “hard” requirements would be processed by filters to improve the computational efficiency. Meanwhile, the others were evaluated and the configuration evaluation function was constructed based on the weighted sum of the evaluation results. Taking the minimized degree-of-freedom as the main optimization objective, a topology architecture optimization design method was given based on the combination of traversal method and genetic algorithm. The effectiveness of the method was verified through an architecture optimization experiment.

Key words: modular , robot;reconfigurable;configuration optimization;genetic algorithm

中图分类号:

TP24

高文斌, 王洪光, 姜勇, 潘新安, . 一种模块化机器人的拓扑构型优化[J]. 中国机械工程, 2014, 25(12): 1574-1580.

Gao Wenbin, Wang Hongguang, Jiang Yong, Pan Xin'an, . Topology Configuration Optimization for a Modular Robot[J]. China Mechanical Engineering, 2014, 25(12): 1574-1580.

参考文献

[1]Paredis C J J,Brown H B, Khosla P K. A Rapidly Deployable Manipulator System[C]//IEEE International Conference on Robotics and Autonomous Systems. Minneapolis,1996:1434-1439.
[2]Zhu Wenhong, Lamarche T, Barnard P. Modular Robot Manipulators with Preloadable Modules[C]//Proceedings of the IEEE International Conference on Mechatronics and Automation. Harbin, 2007: 7-12.
[3]魏延辉,朱延和,赵杰,等.基于柔性化工作的可重构机器人系统设计[J].吉林大学学报：工学版, 2008, 38(2): 449-453.
[4]Ceccarelli M ,Carbone G, Ottaviano E. Multi Criteria Optimum Design of Manipulators[J]. Bulletin of the Polish Academy of Sciences Technical Sciences, 2005,53 ( 1 ): 9-18.
[5]Chocron O. Evolutionary Design of Modular Robotic Arms[J]. Robotica, 2008,26 (3) : 323-330.
[6]Chocron O, Bidaud P. Genetic Design of 3D Modular Manipulators[C]//Proceedings of the IEEE International Conference on Robotics and Automation. Albuquerque, 1997 : 223-228.
[7]Chocron O, Bidaud P. Evolutionary Algorithms in Kinematic Design of Robotic Systems[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Grenoble, 1997: 1111-1117.
[8]魏延辉,赵杰,蔡鹤皋.基于任务的可重构模块机器人构形确定方法[J].机械工程学报,2006,42(B05):93-97.
[9]Chen I M, Burdick J W. Determining Task Optimal Modular Robot Assembly Configurations[C]//Proceeding of the IEEE International Conference on Ro botics and Automation. Nagoya, 1995 : 132-137.
[10]Chen I M, Yang G L. An Evolutionary Algorithm for the Reduction of DOFs in Modular Reconfigu-rable Robots[C]//Proceeding of the ASME Dynamic System and Control Division. Anaheim, 1998:759-766.
[11]Chung W K, Han J, Youm Y, et al. Task Based De sign of Modular Robot Manipulator Using Efficient Genetic Algorithm [C]//Proceeding of the IEEE International Conference on Robotics and Automation. Albuquerque, 1997 : 507-512.
[12]Bo Dong, Li Yuanchun. Multi-objective-based Configuration Generation and Optimization for Reconfigurable Modular Robot[C]//Proceeding of the IEEE International Conference on Information Science and Technology. Nanjing, 2011 : 1006-1010.
[13]Yang Guilin, Chen I M. Task-based Optimization of Modular Robot Configurations: Minimized Degree of freedom Approach[J]. Mechanism and Machine Theory, 2000,3,5 ( 4 ) : 517-540.
[14]Gao Wenbin, Wang Hongguang,Jiang Yong, et al. Task based Configuration Synthesis for Modular Robot[C]//Proceeding of the IEEE International Conference on Mechatronics and Automation. Chengdu,2012:789-794.
[15]Murray R M,Li Z,Sastry S S,et al. A Mathematical Introduction to Robotic Manipulation[M]. Boca Raton: CRC Press, 1994.
[16]Yoshikawa T. Foundations of Robotics: Analysis and Control[M]. Cambridge: MIT Press, 1990.
[17]Paul R P. Robot Manipulators: Mathematics, Programming and Control[M]. Cambridge: MIT Press, 1981.
[18]雷英杰 [等].MATLAB遗传算法工具箱及应用[M],2005.