Multi-objective Optimization Design of An Inchworm Climbing Robot

2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2020-12-01 DOI:10.1109/ICARM49381.2020.9195306

Weijun Wang, Songtao Cai, Chaoyang Ma, Wenjie Li, Jian Liu

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引用次数: 1

Abstract

An optimal design of an inchworm climbing robot is addressed in this paper. Toward a mobile robot, generally speaking, the greater the power, the faster the moving speed. However, high power brings high weight while high weight reduces the speed. In other words, the weight and the moving speed of a climbing robot are two conflicting objectives in the design. A modular robot is proposed in this paper. Five modular motors and two sets of suction cups are leading parts of the robot. High power modules can increase the robot moving speed while adding weight. Large suction cups can increase adsorption force while increasing adsorption time and reducing moving speed. A multi-objective optimization design problem is formulated and the designer can select the final solution from the Pareto solutions. Firstly, a modular inchworm climbing robot is described. Then, a method using a multi-objective optimization is proposed to determine the optimal design variables. Finally, the CAD model of the selected solution and the prototype of this robot is presented and discussed.

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一种尺蠖爬行机器人多目标优化设计

研究了一种尺蠖爬行机器人的优化设计问题。对于移动机器人来说，一般来说，功率越大，移动速度越快。然而，高功率带来了高重量，而高重量降低了速度。换句话说，攀爬机器人的重量和移动速度在设计中是两个相互冲突的目标。本文提出了一种模块化机器人。五个模块化电机和两组吸盘是机器人的主要部件。高功率模块可以在增加重量的同时提高机器人的移动速度。大吸盘可以增加吸附力，同时增加吸附时间，降低移动速度。建立了一个多目标优化设计问题，设计者可以从Pareto解中选择最终解。首先，描述了一种模块化尺蠖爬行机器人。然后，提出了一种多目标优化方法来确定最优设计变量。最后，给出了所选方案的CAD模型，并对机器人样机进行了讨论。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2020 5th International Conference on Advanced Robotics and Mechatronics (ICARM)

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