Abstract:Aiming at the relations and constraints between the types of components and their combinations to realize the robot’〖KG-*3〗s motion function,a component combination design and optimization method based on ant colony algorithm was proposed.According to the working principle of the wall-climbing robot,the function was decomposed and substituted into all optional components to establish a matrix of functional components; the analytic hierarchy process was used to evaluate the matching degree between components and components according to the degree of function realization,the component matching matrix based on the functional component matrix and the design evaluation model was obtained; for the design evaluation model and optimization target,ant colony algorithm was improved,the optimal solution in the component matching degree matrix was found; finally,a comparative experimental study was carried out on the robot after optimization design and before optimization.The experimental results show that based on reducing the development cost,the wall motion performance and stability of the optimized robot are significantly improved.