The invention belongs to the technical field of underwater robots, and particularly relates to a propulsion layout optimization design method of an agile underwater robot, which comprises the following steps of: S1, establishing models of various performance indexes of the ROV about the pose of a propeller, and obtaining three main parameters omega, M and E which influence the performance of the underwater robot, m is the maximum thrust of the underwater robot, and E is the overall efficiency of the robot; and S2, obtaining a unified parameter y for measuring the performance of the underwater robot, and carrying out design optimization by utilizing an optimization algorithm based on the relationship between the evaluation indexes and the design parameters so as to achieve the purpose of finally optimizing the performance index y. According to the underwater robot design method based on the rejection evolutionary algorithm, systematized and personalized optimization design can be carried out for complex underwater robot operation tasks.
本发明属于水下机器人技术领域,尤其涉及一种敏捷水下机器人的推进布局优化设计方法,包括以下步骤:S1、建立ROV各性能指标关于推进器位姿的模型,获得影响水下机器人性能的三个主要参数ω,M和E,其中ω是水下机器人可操控性,M是水下机器人的最大推力,E是机器人总体效率;S2、获得一个统一的衡量水下机器人性能参数y,基于以上评价指标关于设计参数的关系,利用优化算法来进行设计优化,以达到最终性能指标y最优的目的。本发明基于排斥进化算法的水下机器人设计方法,可以针对复杂的水下机器人操作任务,进行系统化、个性化的优化设计。
Propulsion layout optimization design method for agile underwater robot
一种敏捷水下机器人的推进布局优化设计方法
2025-04-11
Patent
Electronic Resource
Chinese
Power propulsion system for underwater robot and design method
European Patent Office | 2015
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