CN112861287A - Robot lightweight effect evaluation method - Google Patents
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Abstract
The invention provides a method for evaluating a lightweight effect of a robot, which comprises the following steps: s1, determining lightweight measures of the robot, and scoring each lightweight measure; s2, determining a robot lightweight evaluation index, and calculating a robot lightweight evaluation index score according to the lightweight measure score in the step S1; and S3, calculating a robot weight reduction effect score according to the robot weight reduction evaluation index score in the step S2. Since the score of the robot weight reduction evaluation index can be determined based on the score of the robot weight reduction measure, the score of the robot weight reduction effect can be determined based on the score of the robot weight reduction evaluation index. The related mechanism, user and robot manufacturer can evaluate the light weight level of the robot by the score of the light weight effect, thereby promoting the development of the robot light weight technology.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method for evaluating a lightweight effect of a robot.
Background
As a result of advanced integrated control theory, mechano-electronics, computers, materials and bionics, robots are capable of performing various operations, adapting to various severe working environments, bringing great benefits for releasing human workload and improving production efficiency, and thus are widely used in various fields of production and life.
With the rapid development of the robot technology, the light weight requirements of the robot are increasing, and the development of the robot light weight technology is also receiving more and more attention. The light weight of the robot means that the preparation quality of the robot is reduced as much as possible on the premise of ensuring the strength and performance of the robot, so that the operation speed of the robot is increased, the operation energy consumption is reduced, the movement inertia of the robot is reduced, and the action accuracy is improved. How to evaluate the lightweight effect of a robot becomes a technical problem to be solved urgently in lightweight engineering development.
At present, an evaluation system of the lightweight effect of the robot is in a blank stage, and no evaluation method can determine the lightweight effect of the robot. Therefore, a method for evaluating the weight reduction effect of a robot is required.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a robot lightweight effect evaluation method, which is used for solving the problem that the lightweight effect of a robot cannot be evaluated in the related art.
In order to achieve the above object, the present invention provides a method for evaluating a weight reduction effect of a robot, comprising the steps of:
s1, determining lightweight measures of the robot, and scoring each lightweight measure;
s11, determining lightweight measures of the robot;
the lightweight measure of robot specifically is five kinds:
the consumption of the consumable material X1 is reduced,
the strength of the structure is enhanced by X2,
the use of a light-weight material X3,
adopting a computer to carry out structural optimization design X4,
a load-bearing vehicle body X5 is adopted;
s12, grading each robot lightweight measure;
the five types of weight reduction measures have different units, and are unified in dimension based on the TOPSIS method, and the scores of the five types of weight reduction measures are respectively as follows: x is the number of1、x2、x3、x4、x5；
S2, determining a robot lightweight evaluation index, and calculating a robot lightweight evaluation index score according to the lightweight measure score in the step S1;
s21, determining a lightweight evaluation index of the robot;
the lightweight evaluation indexes of the robot are four specifically:
unit energy consumption running mileage/reduced power consumption Y1,
good handling properties of the material Y2, and good handling properties,
the frequency of repair Y3 is reduced,
reducing the fuselage weight Y4;
s22, calculating the lightweight evaluation index score of the robot;
evaluating the calculation robot lightweight evaluation index score by using the following formula;
in the above formula, yjIndex score, x, for robot lightweight assessmentiScoring for robot lightweighting measures, aijThe weight of each weight reduction evaluation index for each weight reduction measure,
the four robot lightweight evaluation index scores calculated by the formula are respectively as follows: y is1、y2、y3、y4；
S3, calculating a robot lightweight effect score according to the robot lightweight evaluation index score in the step S2;
the robot lightweight effect score is evaluated by the following formula,
in the above formula, scoreScore the robot for lightweight effects, yjFor the robot lightweight evaluation index score, bjWeight of the weight reduction effect for each weight reduction evaluation index, scoreThe larger the value, the better the weight reduction effect of the robot.
Further, in step S22, the index weight a is evaluated for each weight reduction measure and for each weight reductionijThe method specifically comprises the following steps:
the weight of the five lightweight measures to the unit energy consumption operation mileage/reduced power consumption Y1 of the first evaluation index is as follows: a is11＝0.13、a21＝0.06、a31＝0.43、a41＝0.18、a51＝0.20；
The weight of the controllability Y2 with good second evaluation index by the five light-weight measures is as follows: a is12＝0.07、a22＝0.12、a32＝0.22、a42＝0.54、a52＝0.05；
The weight of the five lightweight measures for reducing the repair frequency Y3 for the third evaluation index is as follows: a is13＝0.06、a23＝0.38、a33＝0.10、a43＝0.26、a53＝0.20；
The weight of the weight Y4 of the fifth evaluation index reduced by the weight of the fuselage is as follows: a is14＝0.22、a24＝0.06、a34＝0.38、a44＝0.24、a54＝0.10。
Further, in step S3, the weight b of each weight reduction evaluation index on the weight reduction effectjThe method specifically comprises the following steps:
weight b of first evaluation index unit energy consumption running mileage/reduced power consumption Y1 on light weight effect1＝0.40，
Weight b of controllability Y2 with good second evaluation index on weight reduction effect2＝0.07；
Weight b of controllability Y3 with good third evaluation index on weight reduction effect3＝0.35；
Weight b of controllability Y4 with good fourth evaluation index on weight reduction effect4＝0.18。
The invention has the following beneficial effects:
the invention utilizes the grey prediction model to predict the lightweight effect of the robot under the condition that lightweight measures of the robot are changed. Since the score of the robot weight reduction evaluation index can be determined based on the score of the robot weight reduction measure, the score of the robot weight reduction effect can be determined based on the score of the robot weight reduction evaluation index. The related mechanism, user and robot manufacturer can evaluate the light weight level of the robot by the score of the light weight effect, thereby promoting the development of the robot light weight technology.
According to the robot lightweight effect evaluation method, a plurality of robot lightweight schemes can be compared, and a lightweight optimal scheme is selected, so that technical support is provided for lightweight engineering development. In addition, according to the method for evaluating the weight reduction effect of the robot of the present invention, the weight reduction effect of existing robot products can be compared, and a product having the optimal weight reduction effect can be selected.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a technical route diagram of a robot lightweight effect evaluation method according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for evaluating a lightweight effect of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more clearly understood, the following further detailed description of the embodiments of the present application with reference to the drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not an exhaustive list of all the embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1 and 2, the present invention provides a method for evaluating a robot weight reduction effect, which is used to solve the problem that the robot weight reduction effect cannot be evaluated in the related art. The robot lightweight effect evaluation method comprises the following steps:
and S1, determining the lightweight measures of the robot, and grading each lightweight measure.
S2, determining the robot lightweight evaluation index, and calculating the score of the robot lightweight evaluation index according to the lightweight measure score in the step S1.
And S3, calculating a robot weight reduction effect score according to the robot weight reduction evaluation index score in the step S2.
Wherein, step S1 includes:
and S11, determining lightweight measures of the robot.
The lightweight measure of robot specifically is five kinds:
the consumption of the consumable material X1 is reduced,
the strength of the structure is enhanced by X2,
the use of a light-weight material X3,
adopting a computer to carry out structural optimization design X4,
a body X5 is used.
And S12, grading each robot lightweight measure.
The five types of weight reduction measures have different units, and are unified in dimension based on the TOPSIS method, and the scores of the five types of weight reduction measures are respectively as follows: x is the number of1、x2、x3、x4、x5Five kinds of light-weight measuresThe dimension is unified so that the data can be used directly.
Wherein, step S2 includes:
and S21, determining the lightweight evaluation index of the robot.
The lightweight evaluation indexes of the robot are four specifically:
unit energy consumption running mileage/reduced power consumption Y1,
good handling properties of the material Y2, and good handling properties,
the frequency of repair Y3 is reduced,
the fuselage weight Y4 is reduced.
And S22, calculating the score of the robot lightweight evaluation index.
The calculation of the robot lightweight evaluation index score is evaluated by the following formula,
in the above formula, yjIndex score, x, for robot lightweight assessmentiScoring for robot lightweighting measures, aijThe weight of each weight reduction evaluation index is weighted for each weight reduction measure.
Degree of influence a of each weight reduction measure on each evaluation indexijCan be obtained by a pair-wise comparison method. Referring to fig. 1, the weight of the five lightweight measures to the four evaluation indexes is specifically:
(1) the weight of the five lightweight measures to the unit energy consumption operation mileage/reduced power consumption Y1 of the first evaluation index is as follows: a is11＝0.13、a21＝0.06、a31＝0.43、a41＝0.18、a51＝0.20；
(2) The weight of the controllability Y2 with good second evaluation index by the five light-weight measures is as follows: a is12＝0.07、a22＝0.12、a32＝0.22、a42＝0.54、a52＝0.05；
(3) The weight of the five lightweight measures for reducing the repair frequency Y3 for the third evaluation index is as follows: a is13＝0.06、a23＝0.38、a33＝0.10、a43＝0.26、a53＝0.20；
(4) The weight of the weight Y4 of the fifth evaluation index reduced by the weight of the fuselage is as follows: a is14＝0.22、a24＝0.06、a34＝0.38、a44＝0.24、a54＝0.10。
The weight a of the controllability Y2 with good second evaluation index by five light-weight measures is calculatedi2A specific calculation method of the weight reduction measure to the weight reduction evaluation index will be described as an example.
The importance of each light-weight measure to the second weight evaluation index Y2 is first determined, and the weight a of each light-weight measure to the second evaluation index Y2 is calculated by a pair-wise comparison methodi2The calculation table is as follows:
determining the degree of influence a of each light-weight measure on each evaluation indexijThen, by the formula
The scores of the four robot lightweight evaluation indexes obtained by calculation are respectively as follows: y is1、y2、y3、y4。
In step S3, the weight reduction effect score of the robot is evaluated using the following formula,
in the above formula, scoreScore the robot for lightweight effects, yjFor the robot lightweight evaluation index score, bjFor each weight reduction evaluation fingerWeight, s, of the target to the effect of lightweightingcoreThe larger the value, the better the weight reduction effect of the robot.
Degree of influence b of each weight reduction evaluation index on weight reduction effectjCan be obtained by a pair-wise comparison method. Referring to FIG. 1, the weight b of the four lightweight evaluation indexes on the lightweight effectjThe method specifically comprises the following steps:
weight b of first evaluation index unit energy consumption running mileage/reduced power consumption Y1 on light weight effect1＝0.40，
Weight b of controllability Y2 with good second evaluation index on weight reduction effect2＝0.07；
Weight b of controllability Y3 with good third evaluation index on weight reduction effect3＝0.35；
Weight b of controllability Y4 with good fourth evaluation index on weight reduction effect4＝0.18。
The following describes specific calculation methods of the weights of the four weight reduction evaluation indexes for the weight reduction effect.
Firstly, determining the importance of each lightweight evaluation index to the lightweight effect, and calculating the weight b of each lightweight evaluation index to the lightweight effect by a pair-wise comparison methodjThe calculation table is as follows:
determining the influence degree b of each lightweight evaluation index on the lightweight effectjThen, by the formula
Calculating a score s of the robot weight reduction effectcore，scoreThe larger the value, the better the weight reduction effect of the robot.
The score of the robot weight reduction evaluation index can be determined according to the score of the robot weight reduction measure, and the score of the robot weight reduction effect can be determined according to the score of the robot weight reduction evaluation index. The related mechanism, user and robot manufacturer can evaluate the light weight level of the robot by the score of the light weight effect, thereby promoting the development of the robot light weight technology.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (3)
1. A method for evaluating a lightweight effect of a robot, comprising the steps of:
s1, determining lightweight measures of the robot, and scoring each lightweight measure;
s11, determining lightweight measures of the robot;
the lightweight measure of robot specifically is five kinds:
the consumption of the consumable material X1 is reduced,
the strength of the structure is enhanced by X2,
the use of a light-weight material X3,
adopting a computer to carry out structural optimization design X4,
a load-bearing vehicle body X5 is adopted;
s12, grading each robot lightweight measure;
the five types of weight reduction measures have different units, and are unified in dimension based on the TOPSIS method, and the scores of the five types of weight reduction measures are respectively as follows: x is the number of1、x2、x3、x4、x5；
S2, determining a robot lightweight evaluation index, and calculating a robot lightweight evaluation index score according to the lightweight measure score in the step S1;
s21, determining a lightweight evaluation index of the robot;
the lightweight evaluation indexes of the robot are four specifically:
unit energy consumption running mileage/reduced power consumption Y1,
good handling properties of the material Y2, and good handling properties,
the frequency of repair Y3 is reduced,
reducing the fuselage weight Y4;
s22, calculating the lightweight evaluation index score of the robot;
the calculation of the robot lightweight evaluation index score is evaluated by the following formula,
in the above formula, yjIndex score, x, for robot lightweight assessmentiScoring for robot lightweighting measures, aijThe weight of each weight reduction evaluation index for each weight reduction measure,
the four robot lightweight evaluation index scores calculated by the formula are respectively as follows: y is1、y2、y3、y4；
S3, calculating a robot lightweight effect score according to the robot lightweight evaluation index score in the step S2;
the robot lightweight effect score is evaluated by the following formula,
in the above formula, scoreScore the robot for lightweight effects, yjFor the robot lightweight evaluation index score, bjWeight of the weight reduction effect for each weight reduction evaluation index, scoreThe larger the value, the better the weight reduction effect of the robot.
2. The method of evaluating a weight-reducing effect of a robot according to claim 1, wherein in step S22, the index weight a is evaluated for each weight-reducing measure and for each weight-reducing measureijThe method specifically comprises the following steps:
five lightweight measures are adopted to evaluate the unit energy consumption operation mileage/reduction consumption of the first evaluation indexThe weight of the power Y1 is: a is11＝0.13、a21＝0.06、a31＝0.43、a41＝0.18、a51＝0.20；
The weight of the controllability Y2 with good second evaluation index by the five light-weight measures is as follows: a is12＝0.07、a22＝0.12、a32＝0.22、a42＝0.54、a52＝0.05；
The weight of the five lightweight measures for reducing the repair frequency Y3 for the third evaluation index is as follows: a is13＝0.06、a23＝0.38、a33＝0.10、a43＝0.26、a53＝0.20；
The weight of the weight Y4 of the fifth evaluation index reduced by the weight of the fuselage is as follows: a is14＝0.22、a24＝0.06、a34＝0.38、a44＝0.24、a54＝0.10。
3. The method of evaluating a weight reduction effect of a robot according to claim 1, wherein the weight b of each weight reduction evaluation index on the weight reduction effect in step S3jThe method specifically comprises the following steps:
weight b of first evaluation index unit energy consumption running mileage/reduced power consumption Y1 on light weight effect1＝0.40；
Weight b of controllability Y2 with good second evaluation index on weight reduction effect2＝0.07；
Weight b of controllability Y3 with good third evaluation index on weight reduction effect3＝0.35；
Weight b of controllability Y4 with good fourth evaluation index on weight reduction effect4＝0.18。
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