Method for multialternative optimisation of structural synthesis automation models for creating mechatronic modular robots

FIELD: physics, robotics.

SUBSTANCE: invention relates to machine building, particularly to robotics, and can be used in creating mechatronic modular robots. A method of creating mechatronic modular robots, where during synthesis of the structure of a multi-invariant model of mechatronic modular robots and subsequent recording of the obtained optimum solutions, a plurality of design elements are considered and corresponding alternative variables are input by presenting discrete numbers which correspond to dais elements in binary notation, followed by designating the number of modules merged into a single robot, primarily without a well-defined structure, and facilitating interfacing of each new module with previously collected modules along a selected direction and mating its first interface area with one of the free areas on any other elements of the structure occupying the nearest outermost position.

EFFECT: creating a method for multialternative optimisation of models for automation of structural synthesis of mechatronic modular robots.

4 dwg

 

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

One of the most important and perspective directions of development of modern robotics is associated with the development of a new class of devices - multilink Megatron-modular robots with adaptive structure. Structural synthesis in the design of reconfigurable Megatron-modular robots is regarded as simultaneous, automated solution of two problems of selection: modular Assembly and configuration options a priori periodic law of change of generalized coordinates (y, z) defining the algorithm of motion control.

Known method for the optimization of multi-alternative models for the automation of structural synthesis Megatron-modular robots, which consists in synthesizing the patterns mnogovershinnoe model Megatron-modular robots and subsequent fixation of the obtained optimal solutions (I. M. Makarov, V. M. Lokhin, S. V. Manko, M. P. Romanov, M. V. Kadochnikov. It, "the processing Technology of knowledge management tasks offline Megatron-modular reconfigurable robots" app to "Information technology" No. 8, M., "New technologies", 2010, pp. 3-7, Fig.14 - prototype).

This method multialternative optimization model� automation of structural synthesis Megatron-modular robots is to create specific modules and memorizing specific provisions of individual modules for specific tasks.

The disadvantages of this method are considerable complexity, low efficiency orientation in the environment of reconfigurable mechatronic devices, mainly Megatron-modular robots.

The objective of the proposed technical solution is to eliminate these drawbacks and to provide a method for optimization of multi-alternative models for the automation of structural synthesis Megatron-modular robots for its creation, the application of which will speed up the synthesis process, and increase the effectiveness of orientation in the environment and the reliability of the created mechatronic devices, mainly Megatron-modular robots.

The solution of this problem is achieved in that a method of creating Megatron-modular robot, in which, according to the invention, when synthesizing the patterns mnogovershinnoe model Megatron-modular robots and subsequent fixation of the obtained optimal solutions consider a number of design elements and impose appropriate alternative variables through the submission of digital numbers corresponding to these elements, in binary terms, then indicate the number of modules combined into one robot, mostly without a clearly defined structure, and provide �obrajenie each new module with the previously collected along selected directions, and docked his first front-end platform with one of the free on any other structural elements, occupying the nearest extreme position in a particular row, and the interface pad of each module is performed with the possibility of joining with similar sites in at least four diametrically opposite directions, with one of the two matching modules, mainly primary, perform the Manager in relation to another/to them, secondary/th, joined with him/them, with the specified hierarchy in the structure Megatron-modular robot observe the subsequent pair of modules to form a final structure Megatron-modular robot, with the number of modules that are combined in said robot, determined from the relation: n=1, N where: n is the number of modules combined into one robot, is determined from the relation n=1+x1+2x2+4x3+8x4where: x1, x4=1, 0 - the number of interface pads on the module, N≤16 is the limit for the number of modules that can be combined into one robot, then administered alternative variables to describe the parameters of the periodic law of motion as follows:

Angle=A+sin(ωt+φ),

where: a is the value of the generalized coordinates, relative to which there is periodic motion; B - amplitude periodic oscillations of the generalized coordinates; wherein the total amount |A|+|B| does not exceed the Maxim�flax permissible deviation of the generalized coordinates of the module; φ is the phase shift of the periodic motion; wherein the setting of the parameters of this law define the control algorithms synthesized Megatron-modular design, and optimization of structural synthesis are choosing alternative values of the variablesx1*,x41n*providing the maximum value of the function:

f=[y(x1,x41n)]2+[z(x1,x41n)]2N(x1,x4n)Nc(x10,x41n)max

under the constraints n=1; N

|A1(x10,x12n)+B1(x14n,x17n)|ymax,

|A2(x26,x29n)+B2(x30n,x33n)|zmax

x1,x41n={1,0.

where ymax, zmax- maximum allowable from�of lonene the generalized coordinates of the module relative to its zero value, and to find the maximum value of the function f using a randomised algorithm multialternative optimization, which complement another level within the controlled particle swarm optimization.

The invention is illustrated by drawings, where Fig.1 shows separate Megatron-modular robots with free front-end platforms, Fig.2 - Megatron-modular robot consisting of several modules, interconnected by a free front-end platforms and forming a shape in the form of a polygon, Fig.3 - Megatron-modular robot consisting of several modules, interconnected by a free front-end platforms and forming a shape in the form of a square, Fig.4 - Megatron-modular robot consisting of several modules, interconnected by a free front-end platforms and forming a shape in the form of a rectangle.

The proposed method can be implemented by using Megatron-modular robot, having the following structure.

Megatron-modular robot 1 comprises at least two coupled together modules of the primary 2 and secondary 3. One of the two matching modules, mainly primary 2, is a control with respect to the other, secondary 3, joined with him, and the specified hierarchy in the structure of the fur�e-modular robot is observed in the subsequent pair of modules to form a final structure Megatron-modular robot. Pairing each new module with the previously collected/carried out along the selected direction and provided with the docking of its first free front-end platform 4 with one of the free similar 4 sites on any other structural elements, occupying the nearest extreme position in a particular row. Proprietary interface pad 5 is formed due to the coupling between the two free front-end platforms 4.

Proposed Megatron-modular robot operates as follows.

Arbitrarily select the control primary module 2 with a free front-end platform 4 and fit in with any randomly selected secondary module 3 similar free interface 4 platform. When docking between two free front-end platforms 4 is formed proprietary front-end platform 5. Further accession of free modules 3 module to an educated, originally consisting of two interconnected control module 2 and secondary 3, occurs along a selected direction to form the desired final structure Megatron-modular robot.

The proposed method for creating Megatron-modular robot can be implemented as follows.

Consider a number of design elements and impose appropriate alternative� variables by representing digital numbers, corresponding to these elements in binary terms.

Indicate the number of modules 2 and 3 combined into one Megatron-modular robot 1, without a clearly defined structure,n=1,N.Then in binary get calculus for N≤16, where: N is the number of sides, n is the number of possible iterations

n=1+x1+2x2+43+8x4,

wherex1,x4={1,0.

When modular Assembly robot 1 believe that the pairing of each new module with the previously collected is carried out along the selected direction and is provided with docking his first free front-end platform 4 with one of the free similar interface pads 4 on any other modules 3, as structural elements, occupying the nearest extreme position in a particular row.

Allocate this algorithm primarily as ASB. Description of Assembly procedure lead to the indication of the direction and the attachment of another element using the SSA algorithm.

In direction� for docking of the n-th module of n Sttake four values: nSt=1, nSt=2 - East, nSt=3 - South, nSt=4 - West and are using alternative variables:

nV. n=1+x5n+2x6n,

wheren=1,N,x5n,x6n={1,0.

The number of sites selected for docking of the n-th module in binary terms, write in the following form:

nV. n=1+x7n+2H8n+4x9n,

wheren=2,N,x7n,x9n={1,0.

Alternative variables for parameter descriptions

the periodic law is administered as follows:

Angle=A+Bsin(ωt+φ),

where A is the value of the generalized coordinate, consider�till then which there is periodic motion;

B - amplitude periodic oscillations of the generalized coordinates; the total amount of |A|+|B| must not exceed the maximum permissible deviations of the generalized coordinates of the module;

φ is the phase shift of the periodic motion.

The settings of this law define the control algorithms synthesized Megatron-modular design. These settings are characterized by discrete values having corresponding numerical numbers in the range N≤16.

Then for optimization of structural synthesis are choosing alternative values of the variablesx1*,x41n*providing the maximum value of the function.

f=[y(x1,x41n)]2+[z(x1,x41n)]2N(xmn> 1,x4n)Nc(x10,x41n)max

under the constraints n=1; N

|A1(x10,x12n)+B1(x14n,x17n)|ymax,

|A2(x26,x29n)+B2(x30n,x33n)|zmax

x1,x41n={1,0.

where ymax, zmax- maximum allowable deviation of the generalized coordinates of the module relative to its zero value.

For finding the maximum value of the function f using a randomised algorithm multialternative optimization, which complement another level within the controlled particle swarm optimization.

For the synchronization procedure of the method of particle swarm optimization and variational multi-alternative procedure optimization at each step, control the selection of the particle to update the rate of change of the coordinates, which is carried out using a randomised scheme. To this end introduce a discrete random value of m, which takes the value m=1, M with probability pn. In the first step, get:

pn1=1Nn=1,N

Next, change the values ofpnk provided thatΣn=1Mpnνk=1as follows. Determine the value of a random variablen. Letn=ν. Then the rate of change of coordinates on (k+1)-th step are calculated:

νmnr+1={νmnr,n=1,N,nνpBmnr+1[qzmnrae(1mF)pzmnrae(Δ1mnF )n=ν,

and the value of probability pn:

pnk+1={pnk1+εk+1n=1,N,nν,pnk+εk+11+εk+1,n=ν.

The magnitude of ε>0 determines the degree of recordnet movement of the ν-th particle in the direction of the extremum of the function being optimized.

The use of the proposed technical solutions will allow for the synthesis of structure mnogovershinnoe model Megatron-modular robots with subsequent fixation of the obtained optimal solutions, with the consequent increase in the number of possible iterations Megatron-modular robot with a significant reduction in synthesis time.

Method of megol�alternative optimization models for automated structural synthesis to create Megatron-modular robots characterized by the fact that when carrying out the synthesis of structure mnogovershinnoe model Megatron-modular robots and subsequent fixation of the obtained optimal solutions consider a number of design elements and impose appropriate alternative variables through the submission of digital numbers corresponding to these elements, in binary terms, then indicate the number of modules combined into one robot, mostly without a clearly defined structure, and provide pairing each new module with the previously collected along selected directions, and docked his first front-end platform with one of the free on any other structural elements, occupying the nearest extreme position in a particular row, moreover, the interface pad of each module is performed with the possibility of joining with similar sites in at least four diametrically opposite directions, with one of the two matching modules, mainly primary, perform the Manager in relation to another/to them, secondary/th, joined with him/them, with the specified hierarchy in the structure Megatron-modular robot observe the subsequent pair of modules to form a final structure Megatron-modular robot, while the number of modulating�th, integrated in the robot, is determined from the relation: n=1, N where: n is the number of modules combined into one robot, is determined from the relation n=1+x1+2x2+4x3+8x4where: x1, x4=1, 0 - the number of interface pads on the module, N≤16 is the limit for the number of modules that can be combined into one robot.



 

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