RU2493577C1 - Method for multialternative optimisation of automation modules of structural synthesis of mechatronic modular robots - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: method for multialternative optimisation of automation modules of structural synthesis of mechatronic modular robots is proposed, in which at performance of synthesis of the multiinvariant model structure of mechatronic modular robots, and further fixation of obtained optimum solutions, a variety of design elements is considered and corresponding alternative variables are entered by presenting discrete numbers corresponding to those elements in binary notation; after that, the number of modules combined in one robot, mainly without distinct structure are marked, and connection of every new module is provided to earlier assembled ones along the chosen direction and coupling of its first interface platform is performed to one of the free ones on any other structural members occupying the closest extreme position in this or that row; after that, alternative variables are entered; at that, for optimisation structural synthesis there chosen are values of alternative variables $$\overline{x_1^{*},x_{41n}^{*}}$$

providing maximum value of function f.

EFFECT: enhancement of a synthesis process; improvement of operating reliability of mechatronic modular robots.

2 cl, 4 dwg

Description

The invention relates to mechanical engineering, namely to robotics, and can be used to create mechatronic-modular robots.

One of the most important and promising areas of development of modern robotics is associated with the development of a new class of devices - multi-link mechatronic-modular robots with an adaptive structure. Structural synthesis in the design of reconfigurable mechatronic - modular robots is considered as a simultaneous, automated solution to two selection problems: the order of the block-modular assembly and the configuration option of the a priori periodic law of variation of the generalized coordinates (y, z), which determines the motion control algorithm.

There is a method for multi-alternative optimization of automation models for structural synthesis of mechatronic-modular robots, which consists in synthesizing the structure of a multi-invariant model of mechatronic-modular robots, and subsequent fixation of the obtained optimal solutions (I.M. Makarov, V.M. Lokhin, S.V. Manko, MP Romanov, MV Kadochnikov. IT, "Knowledge Processing Technologies in the Control Problems of Autonomous Mechatronic Modular Reconfigurable Robots" Appendix to "Information Technologies" No. 8, M., "New Technologies", 2010, p. 3 -7, ri p.14 prototype).

The indicated method of multi-alternative optimization of models of automation of structural synthesis of mechatronic-modular robots consists in storing specific positions of individual modules for solving target tasks.

The disadvantages of this method is its significant complexity, low orientation efficiency in the environment of reconfigurable mechatronic devices, mainly mechatronic-modular robots.

The objective of the proposed technical solution is to eliminate these drawbacks and create a multi-alternative optimization model for automating structural synthesis of mechatronic-modular robots, the use of which will speed up the synthesis process, as well as increase the efficiency of orientation in the environment and the reliability of the created mechatronic devices, mainly mechatronic-modular robots .

The solution of this problem is achieved by the fact that in the proposed method of multi-alternative optimization of models of automation of structural synthesis of mechatronic-modular robots, according to the invention, when synthesizing the structure of a multi-invariant model of mechatronic-modular robots consisting of at least two identical modules interconnected, preferably two or more, primary and again mating with them, having interface platforms for docking, the number of modules being combined into the aforementioned revolutions, determined from the ratio: n = 1, N, where: n is the number of modules combined into one robot, determined from the ratio n = 1 + x1 + 2x2 + 4x3 + 8x4, where: x1, x4 = 1.0 - number interface pads on the module, N≤16 - the maximum number of modules that can be combined into one robot, while each new module is paired with the previously assembled / and is carried out along the selected direction and is provided by docking its first interface pad with one of the free ones on any other structural elements occupying the closest extreme position in one or another row y, and the interface pads of each module are configured to dock with similar pads in at least four diametrically opposite directions, and then fix the resulting optimal solutions, consider a lot of design elements and introduce the corresponding alternative variables by representing discrete numbers corresponding to these elements, in binary terms, after which they indicate the number of modules combined into one robot, mainly without a clearly defined page structures, and ensure the coupling of each new module with previously assembled along the selected direction and the docking of its first interface pad with one of the free on any other structural elements that occupy the closest extreme position in one or another row, after which alternative variables are introduced to describe the parameters of the periodic law in the following way:

Angle = A + Bsin (ωt + φ),

where: A is the value of the generalized coordinate with respect to which periodic motion occurs;

B is the amplitude of the periodic oscillations of the generalized coordinate; the total value of A + B should not exceed the maximum permissible deviation of the generalized coordinate of the module;

φ is the phase shift of the periodic motion.

, обеспечивающих максимальное значение функции f:at the same time, for optimization structural synthesis, the values of alternative variables are chosen $$\overline{x_{\mathrm{one}}^{*},x_{41n}^{*}}$$

providing the maximum value of the function f:

$$f=\frac{{\left[y\left(\overline{x_{\mathrm{one}},x_{41n}}\right)\right]}^2+{\left[z\left(\overline{x_{\mathrm{one}},x_{41n}}\right)\right]}^2}{N\left(\overline{x_{\mathrm{one}},x_{\mathrm{four}n}}\right)N_c\left(\overline{x_{10},x_{41n}}\right)}\to \max$$

under the restrictions n = 1, N

$$\left|A_{\mathrm{one}}\left(\overline{x_{10},x_{12n}}\right)+B_{\mathrm{one}}\left(\overline{x_{\mathrm{fourteen}n},z_{17n}}\right)\right|\le y^{\max },$$

$$\left|A_2\left(\overline{x_{26},x_{\mathrm{29th}n}}\right)+B_2\left(\overline{x_{\mathrm{thirty}n},z_{33n}}\right)\right|\le z^{\max }$$

$$\overline{x_{\mathrm{one}},x_{41n}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}$$

where: y ^max , z ^max are the maximum permissible deviations of the generalized coordinate of the module relative to its zero value, and in order to find the maximum value of the function f, a randomized algorithm of multi-alternative optimization is used.

In a variant of using the method, in order to find the maximum value of the function f, a randomized algorithm of multi-alternative optimization is supplemented by another level within the framework of a controlled swarm of particles.

The invention is illustrated by drawings, in which Fig. 1 shows individual mechatronic-modular robots with free interface pads, Fig. 2 - a mechatronic-modular robot, consisting of several modules interconnected by free interface pads and forming a polygon-shaped figure, figure 3 - mechatronic-modular robot, consisting of several modules interconnected by free interface pads and forming a figure in the form of a square, figure 4 - mechatronic-modular robot, consisting of n several modules interconnected by free interface pads and forming a figure in the form of a rectangle.

In the drawings, pos. 1 designates a separate mechatronic-modular robot, consisting of one module, pos. 2 - a free interface pad, pos. 3 - an interface pad used for docking with another separate mechatronic-modular robot, consisting of one module, pos .4 - mechatronic modular robot, consisting of several modules 1, interconnected by free interface pads 2.

The proposed method can be implemented as follows.

Consider a variety of design elements and introduce the corresponding alternative variables by representing the discrete numbers corresponding to these elements in binary terms.

Тогда в двоичном исчислении получают при N≤16, где: N - количество сторон, n - количество возможный итераций.We denote the number of modules 1, combined into one mechatronic-modular robot 4, without a clearly defined structure, $$n=\overline{\mathrm{one,}N}$$

Then, in binary terms, get at N≤16, where: N is the number of sides, n is the number of possible iterations.

n = 1 + x ₁ + 2x ₂ + 4x ₃ + 8x ₄ ,

Where $$\overline{x_{\mathrm{one}},x_{\mathrm{four}}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}$$

During the block-modular assembly of the robot 4, it is believed that each new module 1 is paired with the previously assembled ones along the selected direction and is provided by docking its first interface pad 2 with one of the free similar interface pads 2 on any other modules 1, as structural elements occupying the nearest extreme position in one or another row.

Allocate this algorithm mainly as Asb. A description of the assembly order leads to an indication of the direction and place of attachment of the next element using the Asb algorithm.

In the direction for joining the nth module, four values are taken: n _cm = 1 - north, n _cm = 2 - east, n _cm = 3 - south, n _cm = 4 - west and are represented through alternative variables:

n _cm.n = 1 + x _5n + 2x _6n ,

, $$x_{5n},x_{6n}=\{\begin{array}{c}\mathrm{1,}\\ 0.\end{array}$$

Where $$n=\overline{\mathrm{one,}N}$$

, $$x_{5n},x_{6n}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}$$

The number of the site selected for docking of the nth module in binary terms is written as follows:

n _cm.n = 1 + x _7n + 2x _8n + 4x _9n ,

, $$\overline{x_{7n},x_{9n}}=\{\begin{array}{c}\mathrm{1,}\\ 0.\end{array}$$

Where $$n=\overline{2N}$$

, $$\overline{x_{7n},x_{9n}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}$$

Alternative variables for describing the parameters of the periodic law are introduced as follows:

Angle = A + Bsin (ωt + φ),

where: A is the value of the generalized coordinate with respect to which periodic motion occurs;

B is the amplitude of the periodic oscillations of the generalized coordinate; total value | A | + | B | must not exceed the maximum permissible deviation of the generalized coordinate of the module;

φ is the phase shift of the periodic motion.

By adjusting the parameters of this law, control algorithms for the synthesized mechatronic-modular design are determined. These parameters are characterized by discrete values having corresponding numerical numbers within N≤16.

, обеспечивающих максимальное значение функции.Then, for optimization structural synthesis, the values of alternative variables are selected $$\overline{x_{\mathrm{one}}^{*},x_{41n}^{*}}$$

providing the maximum value of the function.

$$f=\frac{{\left[y\left(\overline{x_{\mathrm{one}},x_{41n}}\right)\right]}^2+{\left[z\left(\overline{x_{\mathrm{one}},x_{41n}}\right)\right]}^2}{N\left(\overline{x_{\mathrm{one}},x_{\mathrm{four}n}}\right)N_c\left(\overline{x_{10},x_{41n}}\right)}\to \max$$

under the restrictions n = 1, N

$$\left|A_{\mathrm{one}}\left(\overline{x_{10},x_{12n}}\right)+B_{\mathrm{one}}\left(\overline{x_{\mathrm{fourteen}n},z_{17n}}\right)\right|\le y^{\max },$$

$$\left|A_2\left(\overline{x_{26},x_{\mathrm{29th}n}}\right)+B_2\left(\overline{x_{\mathrm{thirty}n},z_{33n}}\right)\right|\le z^{\max }$$

$$\overline{x_{\mathrm{one}},x_{41n}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}$$

where y ^max , z ^max are the maximum permissible deviations of the generalized coordinate of the module relative to its zero value.

To find the maximum value of the recoil function, a randomized algorithm of multi-alternative optimization is used, which is supplemented by another level within the framework of a controlled swarm of particles.

To synchronize the procedures of the particle swarm method and the variational multi-alternative optimization procedure, the choice of particles for updating the coordinate change rate, which is carried out using a randomized scheme, is controlled at each step. For this purpose, a random discrete quantity m is introduced, which takes the value m = 1, M with probability pn. In the first step receive:

. $$p_n^{\mathrm{one}}=\frac{\mathrm{one}}{N}{\forall }_n=\overline{\mathrm{one,}N}$$

.

при условии $${\displaystyle {\sum }_{n=1}^M{p}_n^{{\nu }_k}=1}$$

осуществляют следующим образом. Определяют значение случайной величины $$\tilde{n}$$

. Пусть $$\tilde{n}=\nu$$

. Тогда скорости изменения координат на (k+1)-м шаге вычисляются:Further change of values $$p_n^k$$

provided $${\displaystyle {\sum }_{n=\mathrm{one}}^M{p}_n^{{\nu }_k}=\mathrm{one}}$$

carried out as follows. Determine the value of a random variable $$\tilde{n}$$

. Let be $$\tilde{n}=\nu$$

. Then the coordinate change rates at the (k + 1) th step are calculated:

$${\nu }_{mn}^{r+\mathrm{one}}=\{\begin{array}{c}{\nu }_{mn}^r,\forall n=\overline{\mathrm{one,}N},n\ne \nu ,\\ p_{B_{mn}}^{r+\mathrm{one}}[q_{z_{mn}}^r\ae \left({\nabla }_{\mathrm{one}m}F\right)-p_{z_{mn}}^r\ae \left(-{\Delta }_{\mathrm{one}mn}F\right),\\ n=\nu \end{array}$$

and the probability value p _n :

$$p_n^{k+\mathrm{one}}=\{\begin{array}{c}\frac{p_n^k}{\mathrm{one}+{\epsilon }^{k+\mathrm{one}}}\forall n=\overline{\mathrm{one,}N},n\ne \nu ,\\ \frac{p_n^k+{\epsilon }^{k+\mathrm{one}}}{\mathrm{one}+{\epsilon }^{k+\mathrm{one}}},n=\nu .\end{array}$$

Moreover, the quantity ε> 0 determines the degree of record-breaking motion of the νth particle in the direction toward the extremum of the optimized function.

Using the proposed technical solution will make it possible to synthesize the structure of a multi-invariant model of mechatronic-modular robots with subsequent fixing of the obtained optimal solutions with a subsequent increase in the number of possible iterations of the mechatronic-modular robot with a significant reduction in the synthesis time.

Claims (2)

1. A method of multi-alternative optimization of models of automation of structural synthesis of mechatronic-modular robots, characterized in that during the synthesis of the structure of a multi-invariant model of mechatronic-modular robots, consisting of at least two conjugate identical modules, preferably two or more, primary and again mating with them, having interface platforms for docking, and the number of modules combined into the said robot is determined from the ratio: n = 1, N, where n is the number of mod it, combined into one robot, is determined from the relation n = 1 + x1 + 2x2 + 4x3 + 8x4, where: x1, x4 = 1.0 - the number of interface pads on the module, N≤16 - the maximum number of modules that can be combined in one robot, while the pairing of each new module with the previously assembled / and is carried out along the selected direction and provided by the docking of its first interface pad with one of the free on any other structural elements occupying the closest extreme position in one or another row, and the interface pads of each module completed with the possibility of docking with similar sites, in at least four diametrically opposite directions, and subsequent fixing of the obtained optimal solutions, consider a lot of design elements and introduce the corresponding alternative variables by representing the discrete numbers corresponding to these elements in binary terms, and then indicate the number modules combined into one robot, mainly without a clearly defined structure, and ensure pairing of each new module previously assembled along a selected direction and its first docking interface pad with one of the free to any other structural elements occupying the near end position in a given row, and then introduced alternative variables to describe the parameters of the periodic law as follows:
Angle = A + Bsin (ωt + φ),
where A is the value of the generalized coordinate with respect to which periodic motion occurs;
B is the amplitude of the periodic oscillations of the generalized coordinate;
the total value of A + B should not exceed the maximum permissible deviation of the generalized coordinate of the module;
φ is the phase shift of the periodic motion,
in this case, for the optimization of structural synthesis, the values of alternative variables are selected $$\overline{x_{\mathrm{one}}^{*},x_{41n}^{*}}$$

providing the maximum value of the function f:
$$f=\frac{{\left[y\left(\overline{x_{\mathrm{one}},x_{41n}}\right)\right]}^2+{\left[z\left(\overline{x_{\mathrm{one}},x_{41n}}\right)\right]}^2}{N\left(\overline{x_{\mathrm{one}},x_{\mathrm{four}n}}\right)N_c\left(\overline{x_{10},x_{41n}}\right)}\to \max$$

under the restrictions n = 1, N
$$\left|A_{\mathrm{one}}\left(\overline{x_{10},x_{12n}}\right)+B_{\mathrm{one}}\left(\overline{x_{\mathrm{fourteen}n},z_{17n}}\right)\right|\le y^{\max }$$

,
$$\left|A_2\left(\overline{x_{26},x_{\mathrm{29th}n}}\right)+B_2\left(\overline{x_{\mathrm{thirty}n},z_{33n}}\right)\right|\le z^{\max }$$

$$\overline{x_{\mathrm{one}},x_{41n}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}$$

where y ^max , z ^max are the maximum permissible deviations of the generalized coordinate of the module relative to its zero value, and a randomized algorithm of multi-alternative optimization is used to find the maximum value of the function f. 2. The method according to claim 1, characterized in that in order to find the maximum value of the function f, the randomized algorithm of multi-alternative optimization is supplemented by another level within the framework of a controlled swarm of particles.

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