Dimension synthesis optimization of cat-like robots under multiple constraints
WU Binghui
WEI Zhaoyi
LI Min
CHENG Yintai
Abstract：[Objective]In order to solve the problem of insufficient parameters optimization with multiple constraints in the current research of cat-like robots,a method of dimension optimization using the grey wolf algorithm was proposed.The sizes of the key components of the cat-like robot were optimized in the method,and higher stability and flexibility of the robot were ob-tained under the restriction of many constraints.[Methods]Firstly,the mechanics of the cat-like robot model was analyzed,and the multi-constraints and objective function were acquired comprehensively.Secondly,the grey wolf algorithm was used to opti-mize the size of the leg and waist of the robot.Lastly,the simulation analysis of the cat-like robot was carried out in Matlab and Adams software.[Results]The results show that the stability index is improved by 31.15%,and the flexibility index is improved by 11.28%.It verifies the rationality of the optimization scheme of the robot.
Keywords：Cat-like robotMotion stabilityDimension synthesisMulti-constraintGrey wolf algorithm
Publication Date：2025-01-14
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：7( 91-97 )