An Efficient Optimization Design Framework for Low-Resistance Shape of Bionic Amphibious Robot.

To realize the low-resistance shape optimization design of amphibious robots, an efficient optimization design framework is proposed to improve the geometric deformation flexibility and optimization efficiency. In the proposed framework, the free-form deformation parametric model of the flat slender body is established and an analytical calculation method for the height constraints is derived. CFD method is introduced to carry out the high-precision resistance calculation and a constrained Kriging-based optimization method is built to improve the optimization efficiency by circularly infilling the new sample points which satisfying the constraints. Finally, the shape of an amphibious robot example is optimized to get the low-resistance shape and the results demonstrate that the presented optimization design framework has the advantages of simplicity, flexibility and high efficiency. [ABSTRACT FROM AUTHOR]