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Optimal design of shape of a curved tri-wheel mechanism for various sizes of stairs다양한 계단을 오를 수 있는 곡선형 트라이휠 기구변수 최적설계

Other Titles
다양한 계단을 오를 수 있는 곡선형 트라이휠 기구변수 최적설계
Authors
Lee, YunhyukLee, SeohyeonOh, JoohyunKim, Hwa SooSeo, Taewon
Issue Date
Nov-2019
Publisher
Institute of Control, Robotics and Systems
Keywords
Design of experiment; Mobile robot; Robust optimization; Stair-climbing; Tri-wheel
Citation
Journal of Institute of Control, Robotics and Systems, v.25, no.11, pp 1014 - 1020
Pages
7
Indexed
SCOPUS
KCI
Journal Title
Journal of Institute of Control, Robotics and Systems
Volume
25
Number
11
Start Page
1014
End Page
1020
URI
https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/2118
DOI
10.5302/J.ICROS.2019.19.0150
ISSN
1976-5622
Abstract
The key factor of Curved Tri-Wheel(CTW) robot that determines trajectory is shape of CTW, and we considered that it can be robustly optimized for various sizes of stairs. For this reason, in this study, optimization of the shape of CTW is conducted by using Taguchi method. To analyze the correlation between shape and trajectory, four shape elements of CTW is chosen for design variables. Four design variables and a size of stairs are divided into three levels respectively to apply orthogonal array in design of experiment. Simulations based on this orthogonal array are performed, and Signal-to-Noise Ratio(SNR) and sensitivity come out. By comparing SNR and an estimated maximum SNR(SNmax), and by analyzing sensitivity of four variables additional simulation is taken. As a result, optimized shape that enables CTW climb three different stairs more stably is obtained.
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