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Parametric Design Optimization of a Tail Mechanism Based on Tri-Wheels for Curved Spoke-Based Stair-Climbing Robots

Authors
Shin, JeongPilKim, YoungHwanKim, Dong-YoonYoon, Gil HoSeo, TaeWon
Issue Date
Jul-2023
Publisher
SpringerOpen
Keywords
Mobile robot; Robust optimal design; Stair-climbing; Taguchi method; Tail mechanism; Tri-wheel
Citation
International Journal of Precision Engineering and Manufacturing, v.24, no.7, pp.1205 - 1220
Indexed
SCIE
SCOPUS
KCI
Journal Title
International Journal of Precision Engineering and Manufacturing
Volume
24
Number
7
Start Page
1205
End Page
1220
URI
https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/193123
DOI
10.1007/s12541-023-00817-4
ISSN
2234-7593
Abstract
Overcoming stairs is an important requirement for mobile robots. Therefore, many studies have been conducted to develop robots with novel stair-climbing mechanisms. A curved-spoke-based stair-climbing robot has been developed to overcome stairs, but had some limitations during stair climbing, such as damage caused by friction with the edge of the stair and impact during locomotion. In a previous study, several tail mechanisms were suggested to solve these problems, and the tri-wheel tail mechanism showed remarkable performance improvements. However, the previous study used only one step size of 300 × 160 mm 2. Therefore, in this study, a robust optimal design of the tri-wheel tail mechanism using the Taguchi method is conducted to achieve outstanding performance improvements even for stairs of various sizes and different climbing speeds as user conditions. The design of simulations of the tri-wheel tail mechanisms are performed via orthogonal arrays using a commercial dynamic simulation software tool. The objective function is to minimize the minimum required friction coefficient for a mobile robot to climb stairs without slip. The performance improvements are verified experimentally using a measurable performance index. Thus, these findings can be used to design stair-climbing mobile robots.
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