Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots
This paper presents a novel model-based structural optimization approach for the efficient electromechanical development of hexapod robots. First, a hexapod-design-related analysis of both optimization objectives and relevant parameters is conducted based on the derived dynamical model of the robot....
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-06-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/6/466 |
| _version_ | 1797485112474992640 |
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| author | Ervin Burkus Ákos Odry Jan Awrejcewicz István Kecskés Péter Odry |
| author_facet | Ervin Burkus Ákos Odry Jan Awrejcewicz István Kecskés Péter Odry |
| author_sort | Ervin Burkus |
| collection | DOAJ |
| description | This paper presents a novel model-based structural optimization approach for the efficient electromechanical development of hexapod robots. First, a hexapod-design-related analysis of both optimization objectives and relevant parameters is conducted based on the derived dynamical model of the robot. A multi-objective optimization goal is proposed, which minimizes energy consumption, unwanted body motion and differences between joint torques. Then, an optimization framework is established, which utilizes a sophisticated strategy to handle the optimization problems characterized by a large set of parameters. As a result, a satisfactory result is efficiently obtained with fewer iterations. The research determines the optimal parameter set for hexapod robots, contributing to significant increases in a robot’s walking range, suppressed robot body vibrations, and both balanced and appropriate motor loads. The modular design of the proposed simulation model also offers flexibility, allowing for the optimization of other electromechanical properties of hexapod robots. The presented research focuses on the mechatronic design of the Szabad(ka)-III hexapod robot and is based on the previously validated Szabad(ka)-II hexapod robot model. |
| first_indexed | 2024-03-09T23:14:08Z |
| format | Article |
| id | doaj.art-d4c3b0ab057e4d93a5104db831d259ea |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T23:14:08Z |
| publishDate | 2022-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-d4c3b0ab057e4d93a5104db831d259ea2023-11-23T17:39:34ZengMDPI AGMachines2075-17022022-06-0110646610.3390/machines10060466Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking RobotsErvin Burkus0Ákos Odry1Jan Awrejcewicz2István Kecskés3Péter Odry4Doctoral School of Applied Informatics and Applied Mathematics, Óbuda University, 1034 Budapest, HungaryDepartment of Mechatronics and Automation, University of Szeged, 6724 Szeged, HungaryDepartment of Automation, Biomechanics and Mechatronics, Lodz University of Technology, 90-924 Lodz, PolandDepartment of Control Engineering and Information Technology, University of Dunaújváros, 2400 Dunaújváros, HungaryDepartment of Control Engineering and Information Technology, University of Dunaújváros, 2400 Dunaújváros, HungaryThis paper presents a novel model-based structural optimization approach for the efficient electromechanical development of hexapod robots. First, a hexapod-design-related analysis of both optimization objectives and relevant parameters is conducted based on the derived dynamical model of the robot. A multi-objective optimization goal is proposed, which minimizes energy consumption, unwanted body motion and differences between joint torques. Then, an optimization framework is established, which utilizes a sophisticated strategy to handle the optimization problems characterized by a large set of parameters. As a result, a satisfactory result is efficiently obtained with fewer iterations. The research determines the optimal parameter set for hexapod robots, contributing to significant increases in a robot’s walking range, suppressed robot body vibrations, and both balanced and appropriate motor loads. The modular design of the proposed simulation model also offers flexibility, allowing for the optimization of other electromechanical properties of hexapod robots. The presented research focuses on the mechatronic design of the Szabad(ka)-III hexapod robot and is based on the previously validated Szabad(ka)-II hexapod robot model.https://www.mdpi.com/2075-1702/10/6/466mechanical designstructural optimizationhexapod walking robot |
| spellingShingle | Ervin Burkus Ákos Odry Jan Awrejcewicz István Kecskés Péter Odry Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots Machines mechanical design structural optimization hexapod walking robot |
| title | Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots |
| title_full | Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots |
| title_fullStr | Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots |
| title_full_unstemmed | Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots |
| title_short | Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots |
| title_sort | mechanical design and a novel structural optimization approach for hexapod walking robots |
| topic | mechanical design structural optimization hexapod walking robot |
| url | https://www.mdpi.com/2075-1702/10/6/466 |
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