Abstract
With the rapid development of cities, the automated and intelligent garbage transportation has become an important direction for technological innovation of sanitation vehicles. In this paper, a vehicle-mounted trash can-handling robot is proposed. In order to reduce the cost of the robot and increase the loading capacity of the intelligent sanitation vehicles, a lightweight design method is proposed for the truss structure of the robot. Firstly, the parameters of the robot that are related to the load are optimized by multi-objective parameter optimization based on particle swarm optimization. Then, the material distribution of the truss structure is optimized by topology optimization under multiple load cases. Finally, the thickness of the truss structure parts is optimized by discrete optimization under multiple load cases. The optimization results show that the mass of the truss structure is reduced by 8.72%, the inherent frequency is increased by 61.08%, and the maximum stress is reduced by 10.98%. The optimization results achieve the goal of performance optimization of the intelligent sanitation vehicle, and prove the feasibility of the proposed lightweight design method.
Highlights
Schematic on are theare analysis and results of the truss structure load, the states grams of the typical load cases are shown in grams the typical load cases are shownlifting in Figure when theofmanipulator is in the acceleration movement, the transition movement, and on standby are regarded as three typical load cases in this paper
According to the connection relationship between tween thestructure truss structure andparts, otherthe parts, the truss structure can be designed as a combithe truss and other truss structure can be designed as a combination of nation of cubic shape and triangular prism shape
The lished through the complex interpolation method and the theorem of kinetic energy
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. With the goal of efficient and environmental-friendly urban cleaning work, the automated and intelligent garbage transportation has become an important direction for technological innovation of sanitation vehicles. To this end, the authors’ team has developed a vehicle-mounted trash can-handling robot. The roller chain system is used to transmit the power of the hydraulic motor to drive the Actuators 2021, 10, 214. The perception system is mainly composed of two camcamthe cab. The perception system is mainly composed of two cameras andina the lidar. The perception system converts the relative position information information of of the the trash trash can can into into control data and sends it to the control system; control data and sends it to the control system; Accordingto tothe thepreset presetcontrol control strategy, strategy, the control
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