Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm
In order to make the steering mechanism characteristic curve of the wheeled mobile robot closer to the ideal Ackerman steering characteristic curve and achieve precise steering purpose， the design and parameter optimization of its steering mechanism are optimized. The design of the trapezoidal steer...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-10-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.10.013 |
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| author | Jianhua Zhai Laiqi Qiu Xiaohua Wei Dongshan Yang |
| author_facet | Jianhua Zhai Laiqi Qiu Xiaohua Wei Dongshan Yang |
| author_sort | Jianhua Zhai |
| collection | DOAJ |
| description | In order to make the steering mechanism characteristic curve of the wheeled mobile robot closer to the ideal Ackerman steering characteristic curve and achieve precise steering purpose， the design and parameter optimization of its steering mechanism are optimized. The design of the trapezoidal steering mechanism and its effect on the mobile robot are studied， and the nonlinear optimization model of the trapezoidal steering mechanism is established. The traditional particle swarm optimization algorithm is introduced into the adaptive weights and Lagrange interpolation method to improve the algorithm. The method of solving the optimization model of nonlinear steering mechanism is given， the M-file of Matlab R2018b with improved particle swarm algorithm and solving the nonlinear model is written to analyze the optimization of steering mechanism. The angle of the knuckle arm and wheel， the angle of the triangle rocker arm and the chassis， the size of the triangle rocker arm and the knuckle arm are determined. The results of the optimized steering mechanism are close to the ideal Ackerman steering mechanism. Finally， the optimized steering mechanism is verified by an example. The experimental results are consistent with the actual application requirements. The error between the trajectory of the steering mechanism and the ideal running trajectory can be effectively reduced， and the maneuverability and track control of the mobile robot can be improved. |
| format | Article |
| id | doaj-art-fe574002d62d4a65b78a76ab86d26734 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-10-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-fe574002d62d4a65b78a76ab86d267342025-01-10T14:55:14ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-10-0144869529791253Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm AlgorithmJianhua ZhaiLaiqi QiuXiaohua WeiDongshan YangIn order to make the steering mechanism characteristic curve of the wheeled mobile robot closer to the ideal Ackerman steering characteristic curve and achieve precise steering purpose， the design and parameter optimization of its steering mechanism are optimized. The design of the trapezoidal steering mechanism and its effect on the mobile robot are studied， and the nonlinear optimization model of the trapezoidal steering mechanism is established. The traditional particle swarm optimization algorithm is introduced into the adaptive weights and Lagrange interpolation method to improve the algorithm. The method of solving the optimization model of nonlinear steering mechanism is given， the M-file of Matlab R2018b with improved particle swarm algorithm and solving the nonlinear model is written to analyze the optimization of steering mechanism. The angle of the knuckle arm and wheel， the angle of the triangle rocker arm and the chassis， the size of the triangle rocker arm and the knuckle arm are determined. The results of the optimized steering mechanism are close to the ideal Ackerman steering mechanism. Finally， the optimized steering mechanism is verified by an example. The experimental results are consistent with the actual application requirements. The error between the trajectory of the steering mechanism and the ideal running trajectory can be effectively reduced， and the maneuverability and track control of the mobile robot can be improved.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.10.013Wheeled mobile robotSteering mechanismImproved particle swarm optimizationMatlabOptimized design |
| spellingShingle | Jianhua Zhai Laiqi Qiu Xiaohua Wei Dongshan Yang Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm Jixie chuandong Wheeled mobile robot Steering mechanism Improved particle swarm optimization Matlab Optimized design |
| title | Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm |
| title_full | Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm |
| title_fullStr | Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm |
| title_full_unstemmed | Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm |
| title_short | Design and Optimization of Trapezoidal Steering Mechanism based on Improved Particle Swarm Algorithm |
| title_sort | design and optimization of trapezoidal steering mechanism based on improved particle swarm algorithm |
| topic | Wheeled mobile robot Steering mechanism Improved particle swarm optimization Matlab Optimized design |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.10.013 |
| work_keys_str_mv | AT jianhuazhai designandoptimizationoftrapezoidalsteeringmechanismbasedonimprovedparticleswarmalgorithm AT laiqiqiu designandoptimizationoftrapezoidalsteeringmechanismbasedonimprovedparticleswarmalgorithm AT xiaohuawei designandoptimizationoftrapezoidalsteeringmechanismbasedonimprovedparticleswarmalgorithm AT dongshanyang designandoptimizationoftrapezoidalsteeringmechanismbasedonimprovedparticleswarmalgorithm |