基于多目标优化的矿用便携本安探测机器人动力设计

矿用本安探测机器人的动力性能与便携性是其是否适用于矿井事故灾区环境的前提。针对矿用本安探测机器人动力系统设计中面临的增强动力与减轻质量的矛盾，创造性的提出了采用分布式供电+电机串联合力的方式为本安探测机器人提供动力，建立了动力系统设计的多目标优化函数，确定了系统的优化目标、决策变量和约束条件，进一步获得了矿用本安探测机器人的电机与电池的合理取值范围。通过优化，本安探测机器人重量减轻到10.8kg，较初始设计减轻了29%|测试表明，优化后的机器人行走速度与越障能力均有所提升，性能参数满足设计要求，提高了本安探测机器人的动力性能与便携性。

Mine Portable Intrinsically Detection Robot Power Designing Based on Multi-objective Particle Swarm Optimization

The dynamic performance and portability of mine intrinsically safe detection robot are the premise of whether it is suitable for mine disaster area. In view of the contradiction between enhancing power and reducing quality in the design of power system for mine intrinsically safe detection robot, Creatively put forward the use of distributed power + motor series force to provide power for intrinsically safe detection robot, establish the multi-objective optimization function of the power system design, the optimization goal of system is determined, the decision variables and constraints, and further obtained the mining safety of the motor and the reasonable value range of the battery. Through optimization, the weight of the robot was reduced to 10.8kg, 29% less than the original design. The test results show that the optimized walking speed and obstacle breaking ability of the robot are improved, and the performance parameters meet the design requirements, enhanced the safe detection robot dynamic performance and portability.