Optimization design of unIoading mechanism for inteIIigent cIeaning robots based on Adams

LIN Xinqiang

doi:10.16578/j.issn.1004.2539.2025.06.020

Abstract：[Objective]In order to achieve the capability of whole process unmanned operation of the Robo-Sweep intelligent cleaning robot,it is necessary to develop a set of unloading mechanisms that meet various needs.[Methods]Firstly,according to the overall design scheme of the whole machine,the preliminary design of the unloading mechanism was carried out through the graphical method.Secondly,based on Adams software,a parameterized virtual prototype model of the unloading mechanism was established to perform kinematic and dynamic simulations of the unloading mechanism.Finally,taking the maximum thrust of the linear actuator during the lifting and tilting process as the optimization objective,through sensitivity analysis,the hinge joints that have a greater impact on the optimization objective were selected as design variables,and performance constraints and interference constraint functions were set.By using its parameter optimization design function,the optimal design values of the hinge joint positions of the unloading mechanism were determined,which in turn provides a basis for the selection of linear actuators.[Results]Through comparing the data before and after the optimization,the maximum driving force of the lifting linear actuator is reduced by 17.6%,the maximum driving force of the tilting linear actuator is reduced by 5.8%,and the maximum acceleration of the garbage bin at the beginning of tilting is reduced by 26.9%.