Optimal design of shape of a curved tri-wheel mechanism for various sizes of stairs

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.