Optimization method for rod piece structure of bionic jellyfish robot

Abstract

The invention discloses a bionic jellyfish robot rod piece structure optimization method which comprises the following steps: S1, establishing a simplified structure model according to structure parameters of a robot; s2, determining an optimization target and a variable value range, and establishing a parameterized model; s3, giving an agreed condition, and finding out a relationship between an optimization target and a variable through theoretical calculation; s4, performing data analysis and model correction by using numerical analysis software; s5, dynamic analysis software is used for conducting simulation experiment simulation on the bionic jellyfish robot rod piece structure; and S6, a structure optimization algorithm is selected to carry out optimization design on the rod piece structure, and through multiple iterations and optimization, the optimal bionic jellyfish robot rod piece structure meeting the performance index requirement is obtained.

Description

Technical Field

[0001] The present invention relates to a method for optimizing the structure of a robot, and particularly to a method for optimizing the rod structure of a bionic jellyfish robot. Background Art

[0002] A bionic jellyfish robot is a kind of robot that simulates the movement mode of a jellyfish stretching and contracting in water, and has characteristics such as autonomous floating and diving, autonomous perching, and slow underwater movement. It is applicable to fields such as ocean exploration and ocean environment monitoring. In a bionic jellyfish robot, the rod structure, as the main supporting part of the robot's body, has an important impact on the robot's motion performance, stability, and load-bearing capacity.

[0003] Currently, the design of the rod structure of traditional bionic jellyfish robots is mainly based on experience and simplified models, and there are problems such as excessive structural weight, insufficient stiffness, and low motion efficiency. In addition, some design methods lack systematicness and scientificity, and it is difficult to meet the requirements in different environments. Therefore, developing an optimization method for the rod structure of bionic jellyfish robots, which can effectively improve the robot's motion performance, stability, and adaptability according to specific environmental requirements, has important application value and popularization significance.

[0004] To solve the above problems, the present invention proposes an optimization method for the rod structure of a bionic jellyfish robot. By setting structural parameters, establishing a simplified model, determining optimization objectives, and using tools such as numerical analysis software for optimization design, the aim is to improve the strength, stiffness, motion flexibility, and efficiency of the robot, so as to provide more effective technical support for the design and manufacture of bionic jellyfish robots and related fields. Summary of the Invention

[0005] The present invention realizes the optimization design of the robot rod structure through a series of steps, thereby effectively improving the strength, weight, and motion efficiency of the robot. Specifically, the present invention provides an optimization method that, under the premise of considering the actual situation and manufacturability, establishes a simplified structural model according to the structural parameters of the robot, and finds the relationship between the optimization objective and the variables through theoretical calculation. In addition, the present invention also includes using numerical analysis software for data analysis and model correction, using dynamics and analysis software for simulation experiment simulation, selecting a structural optimization algorithm to optimize the design of the rod structure, and through multiple iterations and optimizations, obtaining the best rod structure of the bionic jellyfish robot that meets the performance index requirements.

[0006] To achieve the above object, the present invention provides the following technical solution: An optimization method for the rod structure of a bionic jellyfish robot, comprising the following steps:

[0007] S1 Establish a simplified structural model according to the structural parameters of the robot;

[0008] S2 Determine the optimization objectives and the variable value ranges, and establish a parametric model;

[0009] S3 Give the agreed conditions, and find out the relationship between the optimization objectives and the variables through theoretical calculations;

[0010] S4 Use numerical analysis software for data analysis and model correction;

[0011] S5 Use dynamic analysis software to conduct simulation experiments on the rod structure of the bionic jellyfish robot;

[0012] S6 Select a structure optimization algorithm to optimize the design of the rod structure. After multiple iterations and optimizations, obtain the best rod structure of the bionic jellyfish robot that meets the requirements of maximizing the tentacle swing angle and minimizing the energy consumption.

[0013] Preferably, the structural parameters are the material, length, diameter, and connection method of the rod.

[0014] Preferably, the optimization objectives include reducing the structural weight, improving the strength of the rod, and enhancing the motion efficiency of the rod.

[0015] Preferably, the agreed condition is that the overall width and length of the rod are less than half of the unfolded width of the jellyfish robot.

[0016] Preferably, the numerical analysis software is MATLAB, and the dynamic analysis software is Adams and Isight.

[0017] Preferably, the data analysis includes a preliminary evaluation of the theoretical values of the optimized rod structure.

[0018] Preferably, the process of iteration and optimization includes adjusting the shape, size, and material of the rod structure.

[0019] The present invention has the following beneficial effects: Through the optimization method of the present invention, the performance and efficiency of the bionic jellyfish robot can be effectively improved. At the same time, the load of the overall robot can be reduced, and its motion flexibility and efficiency can be improved. In addition, the optimization method of the present invention has a wide application prospect, can be applied to the design of the rod structures of different types of bionic jellyfish robots, and provides effective technical support for the design and manufacturing in related fields. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0021] Figure 1 This is a three-dimensional schematic diagram of the jellyfish robot in the present invention.

[0022] Figure 2 This is a flowchart of the optimization method of the present invention.

[0023] Figure 3 This is a flowchart of the model establishment of the present invention.

[0024] Figure 4 This is a flowchart of the specific optimization method of the present invention.

[0025] Figure 5 (a) This is an analysis schematic diagram of the jellyfish tentacle tightening rod of the present invention.

[0026] Figure 5 (b) This is an analysis schematic diagram of the jellyfish tentacle unfolding rod of the present invention.

[0027] In the figure: 1 - jellyfish robot; 2 - rod of the jellyfish robot. Specific Embodiment

[0028] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention claimed, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0029] Embodiment

[0030] The following are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the following embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention.

[0031] Referring to the attached Figures 1-5 drawings, the present invention provides an optimization method for the rod structure of a bionic jellyfish robot, including the following steps:

[0032] S1 Establish a simplified structural model based on the structural parameters of the robot; determine the structural parameters such as the length and power of the rod according to the actual requirements and application environment. During the implementation process, the structural parameters of the rod can be determined according to the required robot size. For example, the appropriate rod length and motion mode can be set according to factors such as the load the robot needs to bear and the working environment. The power parameter can be determined according to the motion requirements and working environment of the robot.

[0033] S2 Determine the optimization objectives and the variable value range, and establish a parametric model; establish a simplified structural model under the actual situation and manufacturability. This step can be achieved through 3D modeling software for subsequent analysis and optimization. When establishing the model, factors such as the material properties and connection methods of the rod need to be fully considered to ensure the accuracy and reliability of the model. In the process of establishing the parametric model of the rod structure of the bionic jellyfish robot, high-strength aluminum alloy is selected as the rod material, and the key properties such as the density, elastic modulus, and Poisson's ratio of this material are input into the 3D modeling software. Considering that the rod needs to be frequently disassembled and assembled, plug-in connection is used as the connection method, and the details of the plug-in part are accurately simulated in the software, including the size, shape, and plug-in method of the plug-in parts. Subsequently, according to the optimization objectives and the variable value range, a parametric model is established, and the length, diameter, wall thickness, etc. of the rod are set as variable parameters. Finally, on the basis of ensuring the accuracy and reliability of the model, the structural model is simplified, and non-critical detailed features are omitted to improve the calculation efficiency. When designing the bionic jellyfish robot, the parametric model of the rod considers multiple factors to optimize the structural strength and motion efficiency. The length range of the rod is set from 100 mm to 300 mm to balance the motion amplitude and energy efficiency; the diameter is set from 5 mm to 15 mm, and the wall thickness range is from 0.5 mm to 3 mm to ensure strength while minimizing mass. PETG-CF is used in material selection to provide high strength and low weight. When performing strength optimization, mainly use simulation software to simulate, establish mechanism models with different lengths, diameters, and wall thicknesses, give material parameters, apply loads, and find the structural parameters that meet the strength requirements to ensure the best balance between strength and motion efficiency.

[0034] S3 Give the agreed conditions and find the relationship between the optimization objectives and variables through theoretical calculation;

[0035] In this step, the optimization objectives mainly include the strength, stiffness, and weight of the rod. Strength and stiffness are important indicators to measure the force-bearing and deformation capabilities of the rod, and weight directly affects the motion efficiency and flexibility of the robot. Therefore, in the optimization process, it is necessary to reasonably balance these three objectives to achieve the best optimization effect. Among them, the agreed condition is that the overall width and length of the rod are less than half of the unfolded width of the jellyfish robot. Specifically, refer to the attached Figure 5, detailed constraint conditions and geometric position relationships (unit: mm):

[0036] Constraint of equal link lengths: l2 = l7

[0037] Constraint of link length ranges: 0 < l7 < 300, 30 < l8 < 120, 0 < l6 < 220, 0 < l9 < 220

[0038] Constraint of the sum of link lengths: l6 + l9 > 2b

[0039] Coordinate constraint of point B: 40 < XB < 55

[0040] Coordinate constraint of point C: 55 < XC < 70

[0041] Coordinate constraint of point F: 60 < XF < 100, 30 < YF < 60

[0042] Coordinate constraint of point G: 70 < XG < 120, 30 < YG < 70

[0043] Constraint of geometric position relationships

[0044] Point F needs to be below the straight line CG, and point G needs to be to the right of the straight line CF.

[0045] The link length constraints ensure that the lengths of the links in the structure are within a reasonable range, and some link lengths need to be equal to meet the design requirements. The position constraints limit the coordinate ranges of the key points to ensure that they are within a specific area to meet the spatial layout and functional requirements. The constraint of geometric position relationships further clarifies the relative position relationships between the points to ensure that the structure is geometrically reasonable.

[0046] These constraint conditions provide clear boundaries and conditions for the design and optimization problems, helping to ensure that the final design solution meets all requirements. In practical applications, these constraint conditions can be transformed into inequalities and equalities in the mathematical model for solving using optimization algorithms. Making the tentacle swing angle greater than 40°, the quantitative relationships between the design variables (link lengths) and the optimization objectives (minimizing energy consumption, maximizing tentacle swing angle, etc.) are found through theoretical calculations, and the constraint conditions ensure that the optimization solutions meet the physical or design requirements.

[0047] S4 Use numerical analysis software for data analysis and model correction; Use numerical analysis software such as MATLAB for data analysis and model correction. By comparing the simulation results with the theoretical calculation results, the deviations of the model are found, and then the model is corrected.

[0048] Specifically, in MATLAB, the value range and accuracy of each rod length are first defined. Then, all possible combinations of rod lengths are generated and converted into a tabular form for subsequent processing. By exporting the data parameters and integrating them with Isight, the design variables, objective function, and optimization algorithm are set, and then the optimization is run to find a better solution. This method combines the numerical analysis ability of MATLAB and the optimization ability of Isight. By theoretically calculating the influence of rod length on the tentacle swing angle and energy consumption, the result is then verified through simulation, and the model is adjusted according to the simulation data. This step can help us understand the performance of the rod structure more accurately and provide a basis for subsequent optimization. Through this theoretical numerical analysis, the performance data of the rod under different working conditions can be obtained, so as to preliminarily evaluate whether its performance meets the requirements. The preliminary evaluation process includes calculating the theoretical values and comparing them with known physical laws, experimental data, or industry standards, using numerical analysis software to verify and simulate the model, analyzing the error sources and evaluating the uncertainty, and designing experiments for actual verification. By comprehensively using these methods, a comprehensive and systematic evaluation of the theoretical values of the rod structure of the bionic jellyfish robot is carried out, and then the deficiencies and potential problems in the model are found, and improvement measures and optimization schemes are proposed. In one of the embodiments, a preliminary evaluation of the rod structure of the bionic jellyfish robot with a specific set of length combinations (55, 65, 130, 140, 37 mm) is carried out by combining theoretical calculation and common sense judgment. Since the data combinations are generated using MATLAB to generate all possible rod length combinations, there will be obvious combinations with overly large power values (uncommon values) and combinations with overly small angle changes (negative or less than 20 degrees). These data combinations are obviously unreasonable. If they enter the next simulation process, it will lead to an increase in the amount of calculation or simulation errors due to non-convergence. Therefore, the step of preliminary evaluation is very important.

[0049] S5 uses dynamic analysis software to conduct simulation experiments on the rod structure of the bionic jellyfish robot; specifically, by using MSC Adams software to conduct simulation experiments on the rod structure of the bionic jellyfish robot, first establish the geometric model of the bionic jellyfish robot, and define the physical properties for each rod, such as material density, elastic modulus, etc. Then, set the boundary conditions, give constraints, contacts, and kinematic pairs, and consider the influence of water flow resistance on the tentacles. Through dynamic analysis, solve parameters such as the displacement, velocity, and acceleration of the tentacles, and calculate the energy consumption during the movement process. Then, use the optimization module to optimize the design variables (such as rod length, angle) to maximize the tentacle swing angle and minimize the energy consumption. The simulation results show that the optimal design effectively reduces the energy consumption while ensuring that the tentacle swing angle exceeds 40°. By comparing with the experimental data, the accuracy of the model is verified, and finally the best design scheme is obtained.

[0050] Use dynamic and numerical analysis software such as Adams and Isight to conduct simulation experiments. Further import the above MATLAB data into Adams and Isight to achieve parametric modeling and automated traversal. This step can verify the performance of the optimized rod structure in actual motion. Through simulation experiments, data such as the force and deformation of the rods during the robot's motion can be obtained.

[0051] S6 Select a structural optimization algorithm to optimize the design of the rod structure. After multiple iterations and optimizations, the best bionic jellyfish robot rod structure that meets the requirements of maximizing the tentacle swing angle and minimizing energy consumption is obtained. Select a structural optimization algorithm to optimize the design of the rod structure. After multiple iterations and optimizations, the best bionic jellyfish robot rod structure that meets the performance index requirements is obtained. In MSC Adams, the multi-objective optimization algorithm sets multiple optimization objectives and uses methods such as genetic algorithm (GA) and particle swarm optimization (PSO) to explore the design space and find a balance point to ensure the optimal solutions of each objective function.

[0052] In this step, we can use finite element analysis and multi-objective optimization algorithms to achieve this goal. Through finite element analysis, the rod structure can be studied in detail to obtain the optimized structural shape and size. The multi-objective optimization algorithm can effectively balance multiple optimization objectives such as strength, stiffness, and weight to achieve the best optimization.

[0053] Finally, adjust and improve the optimization algorithm according to the experimental results to improve the optimization effect. Through experimental verification and comparative analysis, the possible problems and deficiencies of the optimization algorithm can be found, so as to adjust and improve it to improve the performance and reliability of the optimized design. Apply the optimized rod structure to related fields such as bionic jellyfish robots to provide effective technical support. The optimized rod structure can significantly improve the strength and stiffness of the robot, reduce the overall load, and improve the motion efficiency and flexibility, thus providing strong support for the development of fields such as bionic jellyfish robots.

[0054] The above embodiments are only used to illustrate the technical concept and characteristics of the present invention, and their purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for optimizing the rod structure of a bionic jellyfish robot, characterized in that: The steps include: S1 establishes a simplified structural model based on the structural parameters of the robot; S2 determines the optimization target and variable value range, and establishes a parameterized model; S3 gives the agreed conditions and finds the relationship between the optimization target and the variables through theoretical calculation; S4 uses numerical analysis software to perform data analysis and model correction; S5 uses dynamic analysis software to simulate the structure of the bionic jellyfish robot rod; S6 selected the structural optimization algorithm to optimize the rod structure. After multiple iterations and optimizations, the optimal bionic jellyfish robot rod structure was obtained to maximize the tentacle swing angle and minimize energy consumption.

2. The method for optimizing the rod structure of a bionic jellyfish robot according to claim 1, characterized in that: The structural parameters are the material, length, diameter and connection method of the rod.

3. The method for optimizing the rod structure of a bionic jellyfish robot according to claim 1, characterized in that: The optimization objectives include reducing the weight of the structure, increasing the strength of the rods, and improving the movement efficiency of the rods.

4. The method for optimizing the rod structure of a bionic jellyfish robot according to claim 1, characterized in that: The agreed condition is that the overall width and length of the rod are less than half of the unfolded width of the jellyfish robot.

5. The method for optimizing the rod structure of a bionic jellyfish robot according to claim 1, characterized in that: The numerical analysis software is MATLAB, and the dynamic analysis software is Adams and Isight.

6. The method for optimizing the rod structure of a bionic jellyfish robot according to claim 1, characterized in that: The data analysis includes a preliminary evaluation of theoretical values ​​for the optimized member structure.

7. The method for optimizing the rod structure of a bionic jellyfish robot according to claim 1, characterized in that: The iterative and optimization process includes adjusting the shape, size and material of the rod structure.

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