Design and multiobjective optimization of a two‐point contact ladder‐climbing robot using a genetic algorithm

This paper presents the design and optimization of a climbing robot. The design of a ladder‐climbing robot is done with fundamental mathematical considerations. The designed robot is robust enough to manage all environmental calamities, and at the same time, it is optimized for lightweight to reduce...

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Bibliographic Details
Published in:Journal of field robotics 2025-01, Vol.42 (1), p.219-241
Main Authors: Shah, Darshita, Dave, Jatin, Chauhan, Mihir, Ukani, Vijay, Patel, Suhani
Format: Article
Language:English
Subjects:
Actuators
Climbing
climbing mechanism
Design optimization
Design parameters
Evolutionary algorithms
genetic algorithm
Genetic algorithms
Ladders
maintenance
multiobjective optimization
Multiple criterion
Multiple objective analysis
Optimization
Pareto front
Pareto optimization
PID
Point contact
Proportional integral derivative
Resonant frequencies
Robot dynamics
robotics
Robots
stability analysis
telecom tower
Weight reduction
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Summary:This paper presents the design and optimization of a climbing robot. The design of a ladder‐climbing robot is done with fundamental mathematical considerations. The designed robot is robust enough to manage all environmental calamities, and at the same time, it is optimized for lightweight to reduce the actuator's cost and ease of transportation. An analytical evaluation is carried out for both static and dynamic conditions to determine strength and motion characteristics. The multiobjective optimization of the design parameters of a ladder‐climbing robot is done to obtain optimized values of design parameters. The formulation of an optimization problem that considers the minimization of weight and natural frequency is performed. Using an evolutionary genetic algorithm (GA) for the multicriteria optimization problem is solved, and a Pareto front solution is obtained. The optimal values of the parameters are decided based on the knee selection technique. As both objective functions are contradictory, the optimum results significantly improve the robot's performance. Controlling the proportional–integral–derivative (PID) parameters is crucial as the robot climbs with a two‐point contact gait pattern. The controlling parameters impart stability to the robot. PID parameters like proportional, integral and derivative gain are tunned using the GA. Finally, the developed prototype is tested on the ladders of the tower, and satisfactory climbing motion is achieved.
ISSN:1556-4959
1556-4967
DOI:10.1002/rob.22403