Multi-objective Optimization Design of An Inchworm Climbing Robot

摘要

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.