加油机器人结构参数优化设计

摘要

The structure and control of the refueling robot is more complex than that of the general industrial robot. Its structural size influ-ence the size of the robot's working space directly. Its structural size is directly affected by the feasibility, safety and quality of the task. In or-der to refuel flexibly and efficiently, according to the requirements of the refueling operation of the automobile gas station and the distribu-tion space of the automobile fuel tank, the mathematical model of the optimized design is established with the working space as the con-straint condition, and the optimization design of the robot structure parameters is carried out by using the Matlab optimization toolbox.%加油机器人结构和控制比一般工业机器人要求更高,其结构尺寸的确定,直接影响到作业任务的可行性、安全性和完成质量.为了使加油机器人能够灵活高效地进行作业,根据汽车加油站加油作业要求以及汽车油箱口分布空间,以工作空间为约束条件,建立优化设计的数学模型,并利用Matlab优化工具箱进行了机器人本体结构参数优化设计.