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

Renaud Henry (1) , Damien Chablat (1) , Mathieu Porez (1) , Frédéric Boyer (1) , Daniel Kanaan (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 AREVA

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.

Mots clés: Piping inspection; Optimisation; Parallel Robot

Domaines: Robotique [cs.RO]

Renaud Henry, Damien Chablat, Mathieu Porez, Frédéric Boyer, Daniel Kanaan. Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot. Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2014, Buffalo, United States. pp.1-10. ⟨hal-01008793⟩