Dimension Design of a Novel Multi-morphology Transformable Mobile Robot

Multi-morphology robots possess the capability to actively select their morphologies according to the terrain, making them widely applicable in various exploration, transportation, and operational tasks. This paper focuses on the dimension optimization design problem for multi-morphology robots, addressing two key aspects: (1) On one hand, a reliable and comprehensive optimization design model is proposed based on the performance-chart based design methodology (PCbDM) for a specific multi-morphology robot. (2) On the other hand, a multi-morphology optimization strategy is introduced, building upon the optimization design model. Based on morphological characteristics, the dimension parameters of the wheel-leg-spoke mechanism are systematically categorized, and critical transmission factors are identified to enable seamless transfer of mechanism dimension between multiple optimal dimension ratios obtained from performance atlases. The paper establishes a comprehensive dimension optimization model for a novel type of multi-morphology robot. Not only does it offer innovative insights into the mechanism design of multi-morphology robots, but it also establishes a clear and intuitive relationship between the mechanism dimension parameters and the mechanism's performance, thereby providing novel approaches for the dimension optimization design of multi-morphology robots.