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<p>Based on the Finite and Instantaneous Screw (FIS) theory, this study innovatively develops an integrated kinematic and performance modeling method, coupled with a multidisciplinary collaborative optimization framework, for a dual-mode robot. This approach addresses the key technical challenge of developing robots capable of efficient crawling, precision machining, and direct mode switching within long, narrow pipeline spaces.</p>

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Collaborative modeling and multidisciplinary optimization of topological performance of crawling and machining dual-mode mechanisms

  • 期刊论文

  • 发表日期：

    2025年11月25日

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  • Hao Cheng,
  • Yang Qi,
  • Chenyang Dong,
  • Jinhan Yang,
  • Xinyi Yang

摘要

Based on the Finite and Instantaneous Screw (FIS) theory, this study innovatively develops an integrated kinematic and performance modeling method, coupled with a multidisciplinary collaborative optimization framework, for a dual-mode robot. This approach addresses the key technical challenge of developing robots capable of efficient crawling, precision machining, and direct mode switching within long, narrow pipeline spaces.