Particle swarm-based optimization method for load distribution of concrete placing robot

摘要

In order to make the concrete placing robot more energy-saving and efficient in production, a concrete placing robot load distribution optimization method is studied and designed. Firstly, from the production process of precast concrete fabricating, the working characteristics of concrete placing robot mechanism driven by motor swarm, such as concrete placing robot spiral discharge mechanism and walking mechanism, are analyzed, and the objective function of load distribution optimization is established; then, the relationship between the spiral speed of concrete placing robot and the control parameters of walking mechanism is analyzed and established, and the motor parameters of spiral and walking mechanism are combined to determine The results show that the load distribution optimization method of the concrete placing robot based on the particle swarm algorithm can make reasonable load distribution according to the requirements of the objective function and optimize the matching settings of multiple control parameters of the concrete placing robot, thus reducing the energy consumption of the placing process by 16.6% and the placing time by 41.03%.