交通锥回收机械手液压缸铰接点位置优化

基于一种交通锥回收机械手液压缸铰接点位置对交通锥回收稳定性的影响,研究了其液压缸铰接点位置与交通锥运动、受力之间的关系,建立了以最小化交通锥水平加速度峰值为目标的液压缸铰接点位置优化模型,通过罚函数将有约束优化问题转化为无约束优化问题,形成了新的目标函数,利用粒子群优化算法,求得液压缸铰接点位置的最优解。对优化前后的模型进行仿真,仿真结果表明,在满足液压缸最大工作压力限值的前提下,液压缸铰接点位置的优化大幅度降低了交通锥水平加速度的峰值,提高了交通锥回收的稳定性。

Optimization on Hinge Point Position of Hydraulic Cylinder for Retrieval Manipulator of Traffic Cones

Based on the influence of hinge point position of hydraulic cylinder on the stability of traffic cone retrieval manipulator, the relationship between the position of hydraulic cylinder articulation and the movement and force of traffic cone is studied. The optimization model of hydraulic cylinder hinge point position was established with the aim of minimizing the peak horizontal acceleration of traffic cone. The problem of constrained optimization was transformed into unconstrained optimization problem by penalty function, and the new objective function was formed. The optimal solution of the position of hinge point of the hydraulic cylinder was obtained by using particle swarm optimization (PSO) algorithm. Models were simulated before and after optimization. The simulation results show that under the premise of satisfying the maximum working pressure limit of hydraulic cylinder, the optimization of the hinge point position of hydraulic cylinder greatly reduces the peak value of horizontal acceleration of traffic cone and improves the stability of traffic cone retrieval.