Title :
Optimization for rail-type climbing robot in space
Author :
Yongquan Chen ; Huihuan Qian ; Yangsheng Xu
Author_Institution :
Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China
Abstract :
This paper presents the optimization for rail-type climbing robot in space application, especially for the rail and mobile base subsystems. Firstly, the rail-type climbing robot is modeled and the evaluation performance indexs are identified. Then five main parameters are modeled and analyzed to find out the contribution function separately. Finally, the system optimization function is built. The output results offer a guideline for space researcher when doing rail-type climbing robot design.
Keywords :
aerospace robotics; mobile robots; optimisation; performance index; contribution function; evaluation performance indexs; mobile base subsystems; optimization function; rail-type climbing robot design; space application; Climbing robots; Mobile communication; Optimization; Rails; Shape; Wheels;
Conference_Titel :
Mechatronics and Automation (ICMA), 2013 IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4673-5557-5
DOI :
10.1109/ICMA.2013.6618143
