Abstract

This paper presents an optimal design method for a new robot called amphibious transformable robot which can not only perform reconfiguration but also implement tasks in amphibious environment. To satisfy a range of performance requirements for the robot in aquatic and terrestrial environments, the multi-objective optimization method is adopted to design the robot which can achieve the optimal comprehensive performance in the amphibious environment. Based on the kinematics and dynamic analysis of the robot, the multi-objective optimization problem of the mechanism parameters design is established on the mapping relationships between the performance indexes, and then Multi-Objective Genetic Algorithm is proposed to get Pareto solution. Based on combination weighting method of multi-attribute decision-making, the result can be extracted and used to direct the mechanism design of the amphibious transformable robot, Amoeba-II. The experiment for the maneuverability of Amoeba-II in the amphibious environment is performed to verify the validity and applicability of the mechanism-parameters design method of amphibious transformable robot based on Multi-Objective Genetic Algorithm.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.