RU2572382C2 - Mechatronic-modular robot and method for multi-alternative optimisation of structural synthesis automation models for creation thereof - Google Patents

Abstract

FIELD: physics, robotics.

SUBSTANCE: invention relates to robotics. A mechatronic-modular robot consists of sets of interfaced identical modules, each set consisting of interfaced modules having interface mating areas, wherein one of the two modules is a control module relative to the other(s), wherein said hierarchy in the structure of the sets of the mechatronic-modular robot is observed during subsequent interfacing of the sets until the final structure of the mechatronic-modular robot is formed.

EFFECT: creating a mechatronic-modular robot with multi-alternative optimisation of structural synthesis modules thereof for orientation in the environment.

3 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 of 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, M.P. Romanov, M.V. p. 3-7, Fig. 14 prototype).

The indicated method of multi-alternative optimization of models of automation of structural synthesis of mechatronic-modular robots is to create specific modules and memorize the specific positions of individual modules to solve targets.

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 shortcomings and create a mechatronic-modular robot and a method for multi-alternative optimization of automation models for structural synthesis of mechatronic-modular robots to create them, the use of which will speed up the synthesis process, as well as increase the orientation efficiency in the environment and the reliability of the created mechatronic devices, mainly mechatronic-modular robots.

The solution to this problem is achieved by the fact that the proposed mechatronic-modular robot, according to the invention, consists of at least two sets of interconnected identical modules, preferably three or more, each set consisting of at least two conjugated modules , preferably two or more, primary and again mating secondary (s) having interface pads for docking, while one of the two mating modules, mainly primary, is the manager in relation to another / him, secondary / s, mating with him / her, and the specified hierarchy in the structure of the mechatronic-modular robot assemblies is observed during subsequent pairing of the aggregates until the final structure of the mechatronic-modular robot is formed, while in each aggregate The secondary modules have the ability to independently implement the algorithm for assembling and synthesizing the structure of the robot at a lower level than the control module, and the number of meters moduli united to said robot is determined from the relation: n = 1, N, where n - the number of units, combined into one robot, is determined from the relation n = 1 + x ₁ + 2x ₂ + 4x ₃ + 8x _4, wherein: x ₁ , x ₄ = 1.0 - the number of 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 provided with its docking the first interface platform with one of the free on any other structural elements occupying the nearest the extreme extreme position in one row or another, the interface pads of each module being able to dock with similar pads in at least four diametrically opposite directions, with alternative variables for controlling the synthesized mechatronic-modular design for describing the parameters of the periodic law of motion selected from the following ratio:

Angle = A + B sin (ωt + φ),

не превышает максимально допустимого отклонения обобщенной координаты модуля; φ - смещение фазы периодического движения.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, and the total value $$\left|A\right|+\left|B\right|$$

does 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:In an embodiment, for optimization structural synthesis, the values of alternative variables are selected $$\overline{x_{\mathrm{one}}^{*},x_{41n}^{*}}$$

providing the maximum value of the function:

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

under the restrictions n = 1, N

$$\begin{array}{l}\left|A_{\mathrm{one}}\left(\overline{x_{10},x_{12n}}\right)+B_{\mathrm{one}}\left(\overline{x_{\mathrm{fourteen}n},x_{17n}}\right)\right|\le y^{\max },\\ \begin{array}{c}\left|A_2\left(\overline{x_{26},x_{\mathrm{29th}n}}\right)+B_2\left(\overline{x_{\mathrm{thirty}n},x_{33n}}\right)\right|\le z^{\max }\\ \overline{x_{\mathrm{one}},x_{41n}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}\end{array}\end{array}$$

where y ^max _y, z ^max - the maximum allowable deviation of the generalized coordinates of the module relative to its zero value.

To create the specified mechatronic-modular robot, a method is proposed, using which, according to the invention, when synthesizing the structure of a multi-invariant model of mechatronic-modular robots, consisting of at least two sets of interconnected identical modules, preferably three or more, each the combination consists of at least two interconnected modules, preferably two or more, primary and again interfaced with them / s secondary / s having interface pads for joining, while one of the two modules interconnected, mainly primary, is executed by the manager in relation to the other / them, secondary / connected to him / her, and the specified hierarchy in the structure of the mechatronic-modular robot assemblies is observed during subsequent pairing aggregates to the formation of the final structure of the mechatronic-modular robot, while in each aggregate secondary modules that are connected to the control module have the ability to independently implement the assembly algorithm and the structure of the robot at a lower level than the mentioned control module, and then fixing the resulting optimal solutions, consider the set 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 of modules combined in one robot, mainly without a clearly defined structure, and ensure the pairing of each new module with previously assembled along the selected direction occurrence and 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, moreover, the interface pad of each module is capable of docking with similar sites in at least four diametrically opposite directions, after which alternative variables are introduced to describe the parameters of the periodic law of motion as follows:

Angle = A + B sin (ωt + φ),

не превышает максимально допустимого отклонения обобщенной координаты модуля; φ - смещение фазы периодического движения; при этом настройкой параметров этого закона определяют алгоритмы управления, синтезируемой мехатронно-модульной конструкции, причем для оптимизационного структурного синтеза выбирают значения альтернативных переменных $$\overline{x_1^{*},x_{41n}^{*}}$$

, обеспечивающих максимальное значение функции: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; moreover, the total value $$\left|A\right|+\left|B\right|$$

does not exceed the maximum permissible deviation of the generalized coordinate of the module; φ is the phase shift of the periodic motion; at the same time, by setting the parameters of this law, control algorithms for the synthesized mechatronic-modular design are determined, and for the optimization structural synthesis, the values of alternative variables are chosen $$\overline{x_{\mathrm{one}}^{*},x_{41n}^{*}}$$

providing the maximum value of the function:

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

under the restrictions n = 1, N

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

,

$$\begin{array}{c}\left|A_2\left(\overline{x_{26},x_{\mathrm{29th}n}}\right)+B_2\left(\overline{x_{\mathrm{thirty}n},x_{33n}}\right)\right|\le z^{\max }\\ \overline{x_{\mathrm{one}},x_{41n}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}\end{array}$$

where y _max , z _max are the maximum permissible deviations of the generalized coordinate of the module relative to its zero value, and to find the maximum value of the function ƒ, a randomized algorithm of multi-alternative optimization is used, which 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 separate 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 not how many modules are interconnected by free interface pads and forming a figure in the form of a rectangle.

The mechatronic-modular robot 1 consists of at least two aggregates 2 and 3 of interconnected modules 4, 5 and 6.

One of the two modules interconnected, mainly primary 4, is made by the manager relative to the other, secondary 5, which is mated with it, and the hierarchy in the structure of the mechatronic-modular robot assemblies is observed during the subsequent pairing of the assemblies until the final structure of the mechatronic-modular robot is formed . In each set, secondary modules 5 that are connected to the control module 4 have the ability to independently implement the assembly and synthesis algorithm of the robot structure at a lower level than the mentioned control module 4. In turn, module 5, which is secondary and controllable with respect to module 4, is primary and control with respect to module 6. The specified hierarchy in the structure of the mechatronic-modular robot assemblies is observed during the subsequent conjugation of aggregates 2 and 3 until the formation of the final structure urs mechatronic, modular robot.

The pairing of each new module with the previously assembled / and is carried out along the selected direction and is ensured by the docking of its first free interface pad 7 with one of the free similar sites 7 on any other structural elements occupying the closest extreme position in one or another row. A non-free interface pad 8 is formed by docking between each other two free interface pads 7.

The proposed mechatronic-modular robot operates as follows.

The primary control module 4 with a free interface pad 7 is selected and docked with any randomly selected module 5 with a similar free interface pad 7. When two free interface pads 7 are joined together, a non-free interface pad 8 is formed. Further connection of the free modules 6 to the formed module consisting of of the two interconnected modules 4 and 5, occurs along the selected direction with the formation of the desired final structure of the mechatronic-modular robot.

A set of 2 or 3 is formed by modules 4,5 and 6, docked in a given order among themselves.

The proposed method for creating a mechatronic-modular robot 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.Designate the number of modules combined into one mechatronic-modular robot 1, 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.

$$\begin{array}{c}n=\mathrm{one}+x_{\mathrm{one}}+2x_2+\mathrm{four}{x}_3+8x_{\mathrm{four}},\\ gde\overline{x_{\mathrm{one}},x_{\mathrm{four}}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}\end{array}$$

During the block-modular assembly of the robot 1, it is believed that the pairing of each new module with the previously assembled is carried out along the selected direction and is ensured by the docking of its first free interface pad 7 with one of the similar free interface pads 7 on any other modules 4,5 and 6, as elements constructions occupying the closest 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 mounting location of the next element using the Asb algorithm.

In the direction for joining the nth module n _cm , 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:

$$\begin{array}{c}{n}_{cm.n}=\mathrm{one}+x_{5n}+2x_{6n},\\ gden=\overline{\mathrm{one,}N,}{x}_{5n},x_{6n}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}\end{array}$$

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

$$n_{cm.n}=\mathrm{one}+x_{7n}+2x_{8n}+\mathrm{four}{x}_{9n},$$

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 + B sin (ωt + φ),

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

не должна превышать максимально допустимого отклонения обобщенной координаты модуля;B is the amplitude of the periodic oscillations of the generalized coordinate; total value $$\left|A\right|+\left|B\right|$$

must not exceed the maximum permissible deviation of the generalized coordinate of the module;

φ is the phase shift of the periodic motion.

By setting 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.

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

under the restrictions n = 1, N

$$\begin{array}{l}\left|A_{\mathrm{one}}\left(\overline{x_{10},x_{12n}}\right)+B_{\mathrm{one}}\left(\overline{x_{\mathrm{fourteen}n},x_{17n}}\right)\right|\le y^{\max },\\ \begin{array}{c}\left|A_2\left(\overline{x_{26},x_{\mathrm{29th}n}}\right)+B_2\left(\overline{x_{\mathrm{thirty}n},x_{33n}}\right)\right|\le z^{\max }\\ \overline{x_{\mathrm{one}},x_{41n}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}\end{array}\end{array}$$

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 function f, 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. The first step is to get

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

.

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 вычисляютсяFurther 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

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

,

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 (3)

1. Mechatronic-modular robot, characterized in that it consists of at least two sets of conjugate identical modules, each set consisting of at least two conjugated modules, preferably two or more, primary and again with him interfaced / s secondary / s, having interface pads for docking, while one of the two modules interconnected, mainly primary, is controlling in relation to the other / them, secondary / s, docked / him, and the specified hierarchy in the structure of the mechatronic-modular robot aggregates is observed during subsequent pairing of the aggregates until the final structure of the mechatronic-modular robot is formed, while in each aggregate the secondary modules mating with the control module have the ability to independently implement the algorithm for assembling and synthesizing the robot structure at a lower level, than the said control module, and the number of modules combined into the said robot is determined from the relation: n = 1, N, where n is the number of GUSTs modules combined into one robot, is determined from the relation n = l + x ₁ + 2x ₂ + 4x ₃ + 8x _4, where x _0, x ₄ = l, 0 - number of interface pads on the module, N≤16 - limiting the amount 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 area 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 mod To configured to mate with similar pads of at least four diametrically opposite directions, wherein the alternative variables for the control algorithms synthesized mechatronic modular structure for describing periodic law of motion parameters are selected from the following relation:

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, and the total value | A | + | B | does not exceed the maximum permissible deviation of the generalized coordinate of the module; φ is the phase shift of the periodic motion. 2. The mechatronic-modular robot according to claim 1, characterized in that for the optimization of structural synthesis use the function f of a randomized algorithm of multi-alternative optimization with the choice of values of alternative variables

providing the maximum value of the function

under the restrictions n = 1, N

where y ^max , z ^max are the maximum permissible deviations of the generalized coordinate of the module relative to its zero value. 3. The method of creating a mechatronic-modular robot according to claim 1, characterized in that when synthesizing the structure of a multi-invariant model of mechatronic-modular robots consisting of at least two sets of identical modules conjugated to each other, each set consists of at least , of two conjugated modules, the primary and again mating secondary (s) having interface pads for docking, while one of the two mating modules, mainly primary, is they are controlled by the manager in relation to another / him, secondary / s, docked with him / her, and the specified hierarchy in the structure of the mechatronic-modular robot assemblies is respected during the subsequent conjugation of the aggregates until the final structure of the mechatronic-modular robot is formed, while in each aggregate secondary modules have the ability to independently implement the algorithm for assembling and synthesizing the structure of the robot at a lower level than the control module, and then fix To obtain the optimal solutions obtained, consider a lot of design elements and introduce the corresponding alternative variables by representing binary 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 structure, and ensure the coupling of each new module with previously assembled along the selected direction and docking its first interface pad with one of the free on any other elements instructions occupying the closest extreme position in one or another row, and the interface pads of each module are capable of docking with similar pads in at least four diametrically opposite directions, after which alternative variables are introduced to describe the parameters of the periodic law of motion as follows:

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; and the total value | A | + | B | does not exceed the maximum permissible deviation of the generalized coordinate of the module; φ is the phase shift of the periodic motion; at the same time, by setting the parameters of this law, control algorithms for the synthesized mechatronic-modular design are determined, and for the optimization structural synthesis, the values of alternative variables are chosen

providing the maximum value of the function:

under the restrictions n = 1, N

where y ^max , z ^max are the maximum permissible deviations of the generalized coordinate of the module relative to its zero value, and to find the maximum value of the function f, a randomized algorithm of multi-alternative optimization is used, which is supplemented by another level within the framework of a controlled swarm of particles.

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