Topology optimization of the wheel frame of the tracked robot with multiple working conditions and multiple objectives

Abstract Based on ensuring the static stiffness and dynamic vibration frequency of the caterpillar robot wheel frame under various working conditions, the lightweight design of the caterpillar robot wheel frame is realized. The compromise programming approach is used to establish the multi-objective optimization function and three typical target conditions are simulated and analyzed. An analytic hierarchy process is used to determine the weight coefficient of each target working condition, and the topology optimization of the wheel frame of the tracked robot is carried out comprehensively, considering multi-working conditions and multi-target. The secondary design of the optimized rear wheel frame was carried out, as a result of which, the mass was reduced by 8.4% after optimization, and the first-order frequency was increased by 20 Hz after optimization. The optimized rear wheel frame strength and stiffness met the requirements.