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Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot

[+] Author Affiliations
Renaud Henry, Damien Chablat, Mathieu Porez, Frédéric Boyer

Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN), Nantes, France

Daniel Kanaan

AREVA NC, Bagnols sur Cèze, France

Paper No. DETC2014-34057, pp. V05AT08A001; 10 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


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.

Copyright © 2014 by ASME



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