Title :
An optimization design method for the mechanism parameters of an amphibious transformable robot
Author :
Li, Nan ; Ma, Shugen ; Wang, Minghui ; Li, Bin ; Wang, Yuechao
Author_Institution :
State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China
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.
Keywords :
Pareto optimisation; control system synthesis; decision making; genetic algorithms; marine control; mobile robots; robot dynamics; robot kinematics; Amoeba-II; Pareto solution; amphibious environment; amphibious transformable robot; aquatic environments; mechanism parameters design; mechanism-parameters design method; multiattribute decision-making; multiobjective genetic algorithm; multiobjective optimization method; multiobjective optimization problem; optimal design method; optimization design method; robot dynamic analysis; robot kinematics analysis; terrestrial environments; Gravity; Pareto optimization; Propulsion; Robot kinematics; Stability analysis;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385570