Design and simulation of inchworm robot locomotion for mobile additive manufacturing

Abstract

This study investigates the application of inchworm robots for mobile additive manufacturing (AM). A method for controlling the center of gravity (COG) during locomotion and designing unit segments for efficient fabrication is proposed. The relationship between link lengths and fabrication efficiency was analyzed, and unit segments were designed to balance stability and production efficiency. Simulations were conducted to evaluate the stability of the robot’s locomotion, confirming that the proposed design allows the COG to remain within the supporting leg area. These findings contribute to understanding the feasibility of inchworm robots as platforms for mobile AM systems.