Detailed Information

Cited 1 time in webofscience Cited 0 time in scopus
Metadata Downloads

Robust Design of a Rope Ascender Based on Geometric Parameters of Traction Sheave

Authors
Choi, MyeongjinChae, HobyeongKim, KyungminSeo, TaeWon
Issue Date
May-2021
Publisher
KOREAN SOC PRECISION ENG
Keywords
Traction sheave; Robust design; Sensitivity analysis; Fa& #231; ade robots; Ascender; Taguchi method; Rope slip prevention; Dual ascender robot
Citation
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.22, no.5, pp.965 - 974
Indexed
SCIE
SCOPUS
KCI
Journal Title
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
Volume
22
Number
5
Start Page
965
End Page
974
URI
https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/1222
DOI
10.1007/s12541-020-00465-y
ISSN
2234-7593
Abstract
In this study, an optimal-traction sheave is designed to prevent slip for a two-degrees-of-freedom facade-cleaning robot called Dual Ascender Robot (DAR). The DAR uses the length of the rope to estimate its position. Therefore, if a slip occurs, it becomes difficult to measure the length of the rope, thereby making it difficult to estimate position. Problems with position estimation may also cause difficulties in achieving control. The redesigned traction sheave was thoroughly evaluated by experiments. A well-known Taguchi method was used as the experimental procedure, and the optimal design parameters of the sheave were determined as hoop direction groove shape of 0.8, axial direction groove pitch of 6°, and axial direction groove depth of 2 mm. Verification experiments comparing the traction sheave with the optimal condition to that used in DAR showed improved performance. Therefore, it is expected that applying the optimal traction sheave to a DAR in further studies would help achieve better position estimation by preventing slips.
Files in This Item
Go to Link
Appears in
Collections
서울 공과대학 > 서울 기계공학부 > 1. Journal Articles

qrcode

Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.

Related Researcher

Researcher Seo, Taewon photo

Seo, Taewon
COLLEGE OF ENGINEERING (SCHOOL OF MECHANICAL ENGINEERING)
Read more

Altmetrics

Total Views & Downloads

BROWSE