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1 results

  • A new comprehensive performance optimization approach for Earth-contact mechanism based on terrain-adaptability task

  • Hongyan Tang, James M. Zhang, Dan Zhang
  • Journal:
    Robotica / Volume 41 / Issue 1 / January 2023
    Published online by Cambridge University Press:
    02 September 2022, pp. 193-214
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  • Earth-contact mechanism (ECM), a type of mechanism to keep the system in contact with the earth and to move with the terrain changes. This paper uses the virtual equivalent parallel mechanism (VEPM) to convert the terrain data into the kinematical variables of the moving platform in the VEPM, and further analyzes the performance of the VEPM at each terrain point. Then, the comprehensive performance of the VEPM is chosen as the optimization goal, and a task-oriented dimensional optimization approach combined with the particle swarm algorithm and the neural network algorithm is proposed. This paper conducted a comparative experiment to verify the superiority of the new approach in optimizing the ECM’s comprehensive performance, whose performance analysis also can be applied into the layout design of the ECM. This paper proposed an analysis method to construct the ECM’s performance map based on the digital terrain map, which helps the control system and operator to make the optimal control decision.