Research on structural optimization of a clearance robot based on response surface method

To reduce stiffness deformation occurring during the operation of the clearance robot, this study employs the Response Surface Method to optimize the structural parameters of the robot’s manipulator. The static analysis is conducted under the robot’s typical working posture, with the maximum total deformation of each segment of the manipulator defined as the optimization objective and the geometric dimensions as the design variables. A simulation experiment is designed to establish the response surface model. A multi-objective genetic algorithm is then used to identify the optimal dimensional configuration. A new optimization model is constructed and subjected to static analysis based on the selected parameters. The results demonstrate that the proposed optimization scheme effectively reduces the maximum total deformation of the manipulator.