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目的:增压油箱是提高液压机器人动力源功率密度的一个关键元件。高集成度的增压油箱设计涉及6个设计变量和6个性能指标,必须采用合适的方法进行多目标优化。创新点:1.提出一种在设计变量平面上投影性能曲面的多目标优化方法,通过设定性能阈值缩小可行解范围并获得决策;2.将增压油箱应用于液压机器人,提高液压机器人的功率密度和性能。方法:1.采用活塞-弹簧增压的原理来实现机器人液压系统增压,分析增压油箱的容量、质量和增压压力等性能,确定增压油箱设计为多目标优化问题。2.通过在设计变量平面上的投影曲面,分析增压油箱性能指标与设计变量之间的关系;将目标函数阈值引入设计限制条件,通过控制待优化的指标缩小可行域,获得油箱设计的最终解。3.按优化设计参数加工油箱样机,并在液压机器人动力源上进行测试。结论:1.增压油箱优化结果表明本文提出的设计方法可帮助设计者获得所需的最优解;2.增压油箱样机的应用测试结果表明所研制的增压油箱在液压机器人系统中运行可靠。
PURPOSE: The pressurized tank is a key component to increase the power density of the power source of a hydraulic robot. The highly integrated design of a pressurized tank involves six design variables and six performance metrics that must be optimized in a multi-objective manner. Innovative points: 1. Proposed a multi-objective optimization method of projection surface of performance on the design variable plane, narrowing the feasible solution range and setting decision by setting the performance threshold; 2. Applying the pressurized fuel tank to the hydraulic robot to improve the performance of the hydraulic robot Power density and performance. Methods: 1. The principle of piston-spring pressurization was used to realize the pressurization of the hydraulic system of the robot. The capacity, mass and supercharging pressure of the pressurized tank were analyzed to determine the design of the pressurized tank as a multi-objective optimization problem. Through the projection surface in the design variable plane, the relationship between the performance index and the design variables of the pressurized oil tank is analyzed; the threshold of the objective function is introduced into the design constraints, and the final design of the tank is obtained by controlling the index to be optimized solution. 3. According to the optimized design parameters of fuel tank prototype, and hydraulic robotic power source for testing. The results show that the design method proposed in this paper can help the designer to get the optimal solution.2. The application test results of the pressurized fuel tank show that the developed pressurized fuel tank is operating in the hydraulic robot system reliable.