Multi-objective Optimization Design of Structural Parametersfor a Crawler Type Snake-like Rescue Robot with Active Joint
LUAN Xianchao1,2,3, CHANG Jian1,2, WANG Cong1,2, LI Bin1,2
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China; 3. University of Chinese Academy of Sciences, Beijing 100049, China
Abstract：To address the difficulties in the development of robotic rescue equipment, the structural parameters of the snake-like robot with a function of muscle injection are optimized, to deal the problem of constraints of the non-structural environment of debris on the robot's task performance. Firstly, a model of the robot's motion performance as a function of structural parameters is established, based on the analysis of the robot's motion mechanism in the environment of debris. Then, the models are solved separately using two approaches, NSGA-II based on non-dominated ranking, and MOEA-D multi-objective genetic algorithm based on decomposition. By comparing the two approaches, it is demonstrated that NSGA-II is more effective in solving the model, and the optimization structural design parameters of the robot prototype are finally determined. Lastly, a prototype of snake robot is developed for experiments according to the optimization results. Experimental results show that on the robot, the maximum step-overcoming height is 0.18m, with a relative error of 0%; the maximum gully-crossing width is 0.4m, with a relative error of 2.3%; and the minimum steering resistance torque is 14.320N.m in the linear configuration, with a relative error of 11.2%. The effectiveness of the NSGA-II-based multi-objective optimization design method for the structural parameters is verified.
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