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通过研究一种针对阶梯型障碍物的越障模型,设计了一种基于该越障模型的尺寸最优设计算法。通过试值法,实现了按照设计者的要求,自动计算出最优的机械脚尺寸,使得机构的越障效率达到最高。通过实验验证了算法的可行性,使用Matlab编写了用户图形界面,在用户设置障碍物的几何参数和电机性能参数后就可以输出最优的机械脚尺寸及越障时间。有效地提高了此类越障模型的设计效率,为模型的参数设计提供了一种优化方法。
By studying a obstacle avoidance model for stepped obstacles, an optimal dimension design algorithm based on the obstacle obstacle model is designed. Through the trial method, according to the designer’s request, automatically calculate the optimal size of the mechanical foot, making the mechanism to achieve the highest obstacle clearance efficiency. The feasibility of the algorithm is verified through experiments. The graphical user interface (GUI) is programmed by Matlab. After the user sets the geometric parameters of the obstacle and the motor performance parameters, the optimal mechanical foot size and obstacle clearance time can be output. Effectively improves the design efficiency of such obstacle-crossing model and provides an optimization method for the parameter design of the model.