Optimization Design Of Walking Wall-Climbing Robot Based On Function Chain Matrix Algorithm

The choice of wall-climbing robot design program directly affects its work performance.Therefore,this dissertation takes the walking wall-climbing robot proposed by the research group as the research object.According to its existing problems and target requirements,the research on the optimal design of walking wall-climbing robot based on the function chain matrix algorithm is carried out.The mainly factor of the wall-climbing robot design scheme like the scheme's generation,evaluation and optimization is discussed:(1)Construction of the walking wall-climbing robot design scheme matrix.We researched the generation method of the design scheme and its matrix representation.Based on this method,the function association matrix,function element matrix and component relationship matrix of walking wall-climbing robot are established.Finally,a matrix design scheme for walking wall-climbing robot is obtained through matrix operations,which provides an initial solution for the evaluation and optimization of the following schemes.(2)Establishing the scheme evaluation model of walking wall-climbing robot.A component evaluation tree is established based on the design goals,and the evaluation parameters and component weights are determined by using an AHP.The score of each component can be calculated by the weights,and the degree of satisfaction of the function can be evaluated according to the level of the component score.Similarity analysis is performed on the input and coutput characteristics of adjacent functional elements at the same time,and the compatibility between adjacent functional elements is evaluated by similarity.The similarity matrix is defined,bring it into the functional correlation matrix to obtain a design scheme matrix containing similarity information,and the compatibility score of the solution can be calculated by designing the scheme matrix.The design scheme needs to meet the compatibility of adjacent functional elements and the requirements of the metafunction.The higher total score represent the better solution.(3)Optimization of walking wall-climbing robot based on ant colony algorithm.Taking the design scheme matrix as the initial pheromone of the ant colony algorithm;using the value of similarity as the path distance between adjacent functional element nodes;The highest sum of scores from the compatibility and the element of the solution are the optimization goal,and to build an optimization model of the ant colony algorithm.To transform the problem of combinatorial optimization of the scheme into the path optimization problem of the ant colony algorithm.(4)Model building and experimental testing of walking wall-climbing robot.According to the goal of design to determine the specific parameters of the optimal solution components,and to build the production of three-dimensional models and prototypes.Finally,the wall-climbing robot was tested on the wall which with different angles to the ground.Through the research methods above,the optimized plan for wall-climbing robot is obtained successfully in this dissertation,a corresponding three-dimensional model and principle prototype is established according to the scheme.Experiments show that the scheme can meet the requirements of various functions and have good integrated performance.