DocumentCode
638919
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
fYear
2013
fDate
4-7 Aug. 2013
Firstpage
1540
Lastpage
1545
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2013 IEEE International Conference on
Conference_Location
Takamatsu
Print_ISBN
978-1-4673-5557-5
Type
conf
DOI
10.1109/ICMA.2013.6618143
Filename
6618143
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