Structural development and implementation of new underground heavy-load robot based on configuration optimization
To meet the urgent market need for implementation of various heavy-load operations within complex and restricted underground environments, this paper proposes a new scientific structural development scheme for underground heavy-load robot. The scheme combines topology optimization and modular scale...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2025-06-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/16878132251342840 |
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| Summary: | To meet the urgent market need for implementation of various heavy-load operations within complex and restricted underground environments, this paper proposes a new scientific structural development scheme for underground heavy-load robot. The scheme combines topology optimization and modular scale synthesis to achieve the optimal configuration for underground heavy-load robot. Firstly, orienting to the specific working environment and design requirements, a feasible configuration was deduced by the configuration synthesis method. Then, the topology optimization was carried out to output a new stable configuration for underground heavy-load robot with good flexibility and stability. Secondly, the modular design idea was applied to realize the optimal scale synthesis and function expansion of underground heavy-load robot. Finally, based on the kinematic analysis model, a reasonable and effective performance evaluation system was established to verify the performance of underground heavy-load robot. Simulation and experimental results indicated that the underground heavy-load robot developed in this paper had a more reasonable structure and more comprehensive functions. It can fully meet the design requirements of flexible operation and high carrying capacity in the confined underground space. The research in this paper provides new ideas for the structural development of heavy-load robot, effectively enhances the design efficiency of spatial multi-freedom degree industrial robot, and lays a foundation for the coordinated control of modern intelligent robots. |
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| ISSN: | 1687-8140 |