配管内検査ロボットの脚機構における多目的設計最適化
Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot
原子力プラントの配管内検査ロボットの脚機構について、3つの候補アーキテクチャから多目的最適化を用いて最適な構造と寸法を決定し、パレートフロント上の解をCADモデルで比較検討した。
著者: Renaud Henry, Damien Chablat, Mathieu Porez, Frédéric Boyer, Daniel Kanaan
分類: cs.RO
原文アブストラクト
This paper addresses the dimensional synthesis of an adaptive mechanism of contact points ie a leg mechanism of a piping inspection robot operating in an irradiated area as a nuclear power plant. This studied mechanism is the leading part of the robot sub-system responsible of the locomotion. Firstly, three architectures are chosen from the literature and their properties are described. Then, a method using a multi-objective optimization is proposed to determine the best architecture and the optimal geometric parameters of a leg taking into account environmental and design constraints. In this context, the objective functions are the minimization of the mechanism size and the maximization of the transmission force factor. Representations of the Pareto front versus the objective functions and the design parameters are given. Finally, the CAD model of several solutions located on the Pareto front are presented and discussed.
