Design optimization of a four-wheeled robot chassis frame based on artificial neural network

被引:0
|
作者
Rebhi, Lamine [1 ]
Khalfallah, Smail [1 ]
Hamel, Amani [1 ,2 ]
Essaidi, Ahmed Bouzar [1 ]
机构
[1] Ecole Mil Polytech, Bordj El Bahri, Algeria
[2] Ecole Super Tech Aeronaut, Dar El Beida, Algeria
关键词
Optimal design; artificial neural network; random fatigue; Dirlik fatigue model; co-simulation; FATIGUE LIFE PREDICTION; FREQUENCY-DOMAIN; STRENGTH; VEHICLE; WELDS; TRUCK;
D O I
10.1177/09544062251316755
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
Optimizing robotic structures to endure random fatigue conditions represents a critical challenge in robotic design. This paper introduces an advanced optimization strategy specifically for robotic structures subjected to random base excitations (RBE). The approach aims to enhance structural performance and reliability under unpredictable conditions. The proposed methodology features an efficient problem formulation and employs a meta-model-based optimization (MBO) technique, validated through the analysis of a robotic structure's fatigue life under RBE. Structural vibration responses to RBE are assessed using finite element method (FEM), which includes the computation of participation factors to quantify each mode's contribution to the overall structural response. A frequency transfer function is then developed to link input excitations with the resulting structural behavior. Experimental validation in the laboratory confirms the accuracy of the FEM predictions for structures under RBE. The MBO approach is applied to a robot chassis, aiming to minimize its total mass while respecting constraints on maximum equivalent stress and fatigue life. Random vibrations caused by road roughness are simulated to evaluate the chassis response in terms of power spectral densities (PSD) of Von Mises equivalent stress, calculated for different chassis elements. A database is generated through co-simulation with ANSYS and MATLAB, computing fatigue life using the Dirlik model for various design variables. This database supports the development of a radial basis function (RBF) based neural network meta-model for constraint evaluation in the optimization process. Two MBO strategies, sequential and adaptive, are tested. The sequential approach required a significantly large dataset yet failed to achieve target accuracy, showing an uncertainty of over 43%, rendering it unsuitable. In contrast, the adaptive approach achieved the desired accuracy with an uncertainty of less than 0.22%, using only 2% of the dataset required by the sequential approach. This adaptive strategy enabled a substantial reduction in chassis mass while maintaining fatigue life. Moreover, optimization results showed no significant changes when different optimization techniques are applied.
引用
收藏
页数:18
相关论文
共 50 条
  • [1] Genetic Evolution of a Neural Network for the Autonomous Control of a Four-Wheeled Robot
    Elmenreich, Wilfried
    Klingler, Gernot
    MICAI 2007: SIXTH MEXICAN INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE, PROCEEDINGS, 2008, : 396 - 406
  • [2] Neural Network Control of a Four-Wheeled Mobile Robot Subject to Wheel Slip
    Hendzel, Zenon
    Trojnacki, Maciej
    MECHATRONICS: IDEAS FOR INDUSTRIAL APPLICATIONS, 2015, 317 : 187 - 201
  • [3] Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels
    Szeremeta, Mateusz
    Szuster, Marcin
    APPLIED SCIENCES-BASEL, 2022, 12 (11):
  • [4] Design of Robust Backstepping Controller for Four-Wheeled Mecanum Mobile Robot
    Ul Islam, Zeeshan
    Chiddarwar, Shital S.
    Sahoo, Saumya Ranjan
    MACHINES, MECHANISM AND ROBOTICS, INACOMM 2019, 2022, : 1125 - 1134
  • [5] Research and Implementation of SLAM Based on LIDAR for Four-Wheeled Mobile Robot
    Shen, Dong
    Huang, Yakun
    Wang, Yangxi
    Zhao, Chaoyang
    2018 IEEE INTERNATIONAL CONFERENCE OF INTELLIGENT ROBOTICS AND CONTROL ENGINEERING (IRCE), 2018, : 19 - 23
  • [6] A Path Planning Method for a Four-Wheeled Robot Based on an Intelligent Algorithm
    Luo, Yangyang
    Zhou, Xiaobin
    Peng, Xiaoyan
    2018 CHINESE AUTOMATION CONGRESS (CAC), 2018, : 2123 - 2128
  • [7] Design and control of a four-wheeled omnidirectional mobile robot with steerable omnidirectional wheels
    Song, JB
    Byun, KS
    JOURNAL OF ROBOTIC SYSTEMS, 2004, 21 (04): : 193 - 208
  • [8] Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism
    Byun, KS
    Kim, SJ
    Song, JB
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 720 - 725
  • [9] The Designed of Four-wheeled Person Carrier Robot System
    Yun, Youngjae
    Seo, Donghyeon
    Kim, Donghan
    2018 SECOND IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC), 2018, : 339 - 341
  • [10] Four-Wheeled Mobile Robot With Flexible Posture Control
    Lan, Tianxiang
    Yang, Guotian
    JOURNAL OF FIELD ROBOTICS, 2024,