Simulation and Optimization of Regular Motions of a Tube-Crawling Robot

The paper is devoted to issues associated with thetube-crawling robot designed at the Munich Technical University. Wefocus on the simulation of the robot dynamics and the optimization ofstructural parameters of the machine and characteristics of its gait.The mathematical model of the eight-legged tube-crawling robotperforming regular motions at a constant speed along a cylindrical tubeis described. On the basis of this model we investigate the influence ofthe machine design and gait parameters on the robot velocity and findtheir optimal values providing the maximal velocity under givenparametric and drive constraints. Numerical examples are presented anddiscussed.