Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm

Jianhua Zhai; Laiqi Qiu; Xiaohua Wei; Dongshan Yang

doi:10.16578/j.issn.1004.2539.2020.10.013

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Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm

Design· Calculation | 更新时间：2022-11-10

- Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm
- Journal of Mechanical Transmission Vol. 44, Issue 10, Pages: 86-95(2020)
- 作者机构：
  
  1.辽宁工程技术大学机械工程学院，辽宁阜新 123000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.10.013
  CLC：
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翟建华,邱来奇,魏晓华等.基于改进粒子群算法的梯形转向机构设计及优化[J].机械传动,2020,44(10):86-95.

Zhai Jianhua,Qiu Laiqi,Wei Xiaohua,et al.Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm[J].Journal of Mechanical Transmission,2020,44(10):86-95.
翟建华,邱来奇,魏晓华等.基于改进粒子群算法的梯形转向机构设计及优化[J].机械传动,2020,44(10):86-95. DOI： 10.16578/j.issn.1004.2539.2020.10.013.

Zhai Jianhua,Qiu Laiqi,Wei Xiaohua,et al.Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm[J].Journal of Mechanical Transmission,2020,44(10):86-95. DOI： 10.16578/j.issn.1004.2539.2020.10.013.

摘要

为使轮式移动机器人转向机构特性曲线更加接近理想的阿克曼转向特性曲线，实现精确的转向目的，对其转向机构的设计和参数进行了优化。研究梯形转向机构的设计及工作原理对移动机器人的影响，建立了梯形转向机构的非线性优化模型；将传统粒子群算法引入自适应权重和拉格朗日插值法，进行算法改进，并且给出了求解非线性转向机构优化模型的方法；编写了改进粒子群算法和求解非线性模型的Matlab R2018b的M文件，进行了转向机构优化分析；确定出转向节臂与车轮的角度、三角摇臂与底盘间的角度、三角摇臂和转向节臂的尺寸。优化后的转向机构与理想阿克曼转向机构相接近。最终，将优化后的转向机构进行实例验证，证明结果符合实际应用需要，能有效地减少转向机构的轨迹和理想运行轨迹间的误差，使移动机器人的操纵性及航迹控制得到了改善。

Abstract

In order to make the steering mechanism characteristic curve of the wheeled mobile robot closer to the ideal Ackerman steering characteristic curve and achieve precise steering purpose， the design and parameter optimization of its steering mechanism are optimized. The design of the trapezoidal steering mechanism and its effect on the mobile robot are studied， and the nonlinear optimization model of the trapezoidal steering mechanism is established. The traditional particle swarm optimization algorithm is introduced into the adaptive weights and Lagrange interpolation method to improve the algorithm. The method of solving the optimization model of nonlinear steering mechanism is given， the M-file of Matlab R2018b with improved particle swarm algorithm and solving the nonlinear model is written to analyze the optimization of steering mechanism. The angle of the knuckle arm and wheel， the angle of the triangle rocker arm and the chassis， the size of the triangle rocker arm and the knuckle arm are determined. The results of the optimized steering mechanism are close to the ideal Ackerman steering mechanism. Finally， the optimized steering mechanism is verified by an example. The experimental results are consistent with the actual application requirements. The error between the trajectory of the steering mechanism and the ideal running trajectory can be effectively reduced， and the maneuverability and track control of the mobile robot can be improved.

关键词

轮式移动机器人转向机构改进的粒子群算法Matlab优化设计

Keywords

Wheeled mobile robotSteering mechanismImproved particle swarm optimizationMatlabOptimized design

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