Design and Optimization of Small Crawling Robot Based on Linkage Mechanism

This project designed a small octagonal crawling robot. Based on Ansys, a structural analysis and optimization method for a small crawling robot was designed. Firstly, the finite element static and dynamic analysis of industrial robots is carried out to find the weakest parts and parts, and then the topology optimization and size optimization of the weakest parts and parts are obtained to obtain an optimization scheme. The results show that the absolute static deformation is reduced by 30% when the optimized robot only increases the mass of the whole machine by 6%, which indicates that the method has reasonable optimization effect and engineering practicability.