Metaheuristic Approach to Synthesis of Suspension System of Mobile Robot for Mining Infrastructure Inspection
The article describes the problem of geometric synthesis of the inspection robot suspension system, designed for operation in difficult conditions with the presence of scattered obstacles. The exemplary application of a mine infrastructure inspection robot is developed and supported by the ideas. Th...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/22/8839 |
| _version_ | 1797463979976556544 |
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| author | Mateusz Malarczyk Marcin Kaminski Jaroslaw Szrek |
| author_facet | Mateusz Malarczyk Marcin Kaminski Jaroslaw Szrek |
| author_sort | Mateusz Malarczyk |
| collection | DOAJ |
| description | The article describes the problem of geometric synthesis of the inspection robot suspension system, designed for operation in difficult conditions with the presence of scattered obstacles. The exemplary application of a mine infrastructure inspection robot is developed and supported by the ideas. The brief introduction presents current trends, requirements and known design approaches of platforms enabled to cross the obstacles. The idea of a nature-inspired wheel-legged robot is given, and the general outline of its characteristics is provided. Then the general idea of kinematic system elements selection is discussed. The main subject of geometrical synthesis of the chosen four-bar mechanism is described in detail. The mathematical model of the suspension and connections between the parts of the structure is clarified. The well-known analytical approach of brute force search is analyzed and validated. Then the method inspired by the branch and bound algorithm is developed. Finally, a novel application of the nature-inspired algorithm (the Chameleon Swarm Algorithm) to synthesis is proposed. The obtained results are analyzed, and a brief comparison of methods is given. The successful implementation of the algorithm is presented. The obtained results are effectively tested with simulations and experimental tests. The designed structure developed with the CSA is assembled and attached to the prototype of a 14-DOF wheel-legged robot. Furthermore, the principles of walking and the elements forming the control structure were also discussed. The paper is summarized with the description of the developed wheel-legged robot LegVan 1v2. |
| first_indexed | 2024-03-09T18:01:23Z |
| format | Article |
| id | doaj.art-c44a83f497f14fa4986a0ddef86a2062 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T18:01:23Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-c44a83f497f14fa4986a0ddef86a20622023-11-24T09:56:37ZengMDPI AGSensors1424-82202022-11-012222883910.3390/s22228839Metaheuristic Approach to Synthesis of Suspension System of Mobile Robot for Mining Infrastructure InspectionMateusz Malarczyk0Marcin Kaminski1Jaroslaw Szrek2Department of Electrical Machines, Drives and Measurements, Faculty of Electrical Engineering, Wroclaw University of Science and Technology, Smoluchowskiego 19, 50-372 Wroclaw, PolandDepartment of Electrical Machines, Drives and Measurements, Faculty of Electrical Engineering, Wroclaw University of Science and Technology, Smoluchowskiego 19, 50-372 Wroclaw, PolandDepartment of Fundamentals of Machine Design and Mechatronic Systems, Faculty of Mechanical Engineering, Wroclaw University of Science and Technology, Lukasiewicza 7/9, 50-372 Wroclaw, PolandThe article describes the problem of geometric synthesis of the inspection robot suspension system, designed for operation in difficult conditions with the presence of scattered obstacles. The exemplary application of a mine infrastructure inspection robot is developed and supported by the ideas. The brief introduction presents current trends, requirements and known design approaches of platforms enabled to cross the obstacles. The idea of a nature-inspired wheel-legged robot is given, and the general outline of its characteristics is provided. Then the general idea of kinematic system elements selection is discussed. The main subject of geometrical synthesis of the chosen four-bar mechanism is described in detail. The mathematical model of the suspension and connections between the parts of the structure is clarified. The well-known analytical approach of brute force search is analyzed and validated. Then the method inspired by the branch and bound algorithm is developed. Finally, a novel application of the nature-inspired algorithm (the Chameleon Swarm Algorithm) to synthesis is proposed. The obtained results are analyzed, and a brief comparison of methods is given. The successful implementation of the algorithm is presented. The obtained results are effectively tested with simulations and experimental tests. The designed structure developed with the CSA is assembled and attached to the prototype of a 14-DOF wheel-legged robot. Furthermore, the principles of walking and the elements forming the control structure were also discussed. The paper is summarized with the description of the developed wheel-legged robot LegVan 1v2.https://www.mdpi.com/1424-8220/22/22/8839geometrical synthesisfour-bar mechanismChameleon Swarm Algorithmwheel-legged robotoptimization |
| spellingShingle | Mateusz Malarczyk Marcin Kaminski Jaroslaw Szrek Metaheuristic Approach to Synthesis of Suspension System of Mobile Robot for Mining Infrastructure Inspection Sensors geometrical synthesis four-bar mechanism Chameleon Swarm Algorithm wheel-legged robot optimization |
| title | Metaheuristic Approach to Synthesis of Suspension System of Mobile Robot for Mining Infrastructure Inspection |
| title_full | Metaheuristic Approach to Synthesis of Suspension System of Mobile Robot for Mining Infrastructure Inspection |
| title_fullStr | Metaheuristic Approach to Synthesis of Suspension System of Mobile Robot for Mining Infrastructure Inspection |
| title_full_unstemmed | Metaheuristic Approach to Synthesis of Suspension System of Mobile Robot for Mining Infrastructure Inspection |
| title_short | Metaheuristic Approach to Synthesis of Suspension System of Mobile Robot for Mining Infrastructure Inspection |
| title_sort | metaheuristic approach to synthesis of suspension system of mobile robot for mining infrastructure inspection |
| topic | geometrical synthesis four-bar mechanism Chameleon Swarm Algorithm wheel-legged robot optimization |
| url | https://www.mdpi.com/1424-8220/22/22/8839 |
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