Optimal design of hand-carrying rocker-bogie mechanism for stair climbing
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Hong, Hee Seung | - |
dc.contributor.author | Seo, TaeWon | - |
dc.contributor.author | Kim, Dongmok | - |
dc.contributor.author | Kim, Sunho | - |
dc.contributor.author | Kim, Jongwon | - |
dc.date.accessioned | 2021-08-02T18:58:17Z | - |
dc.date.available | 2021-08-02T18:58:17Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2013-01 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/26794 | - |
dc.description.abstract | Transporting heavy packages while climbing stairs can be a very difficult or dangerous task. In situations where this task is frequently required such as construction sites, workers would use equipment such as a back rack for convenience, but still it becomes a difficult task as the weight increases. In this paper, we propose a stair climbing hand-carrying cart based on the rocker-bogie mechanism. We conduct an optimal design of the kinematic variables of the rocker-bogie mechanism for stable stair climbing using Taguchi methodology. Fluctuations and a tilted angle during stair climbing are considered to formulate the objective function. Three different shapes of typical stairs are selected as user conditions to determine a robust optimal solution. The results are verified by experiments using a testing set-up of three stair profiles, and the experimental results are compared with simulation. We expect that the results of this research can be applied to stair climbing robot design. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.title | Optimal design of hand-carrying rocker-bogie mechanism for stair climbing | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Seo, TaeWon | - |
dc.identifier.doi | 10.1007/s12206-012-1212-y | - |
dc.identifier.scopusid | s2.0-84872647502 | - |
dc.identifier.wosid | 000313795000015 | - |
dc.identifier.bibliographicCitation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.27, no.1, pp.125 - 132 | - |
dc.relation.isPartOf | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.title | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.volume | 27 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 125 | - |
dc.citation.endPage | 132 | - |
dc.type.rims | ART | - |
dc.type.docType | 정기학술지(Article(Perspective Article포함)) | - |
dc.identifier.kciid | ART001729083 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | MOBILE ROBOT | - |
dc.subject.keywordAuthor | Optimal design | - |
dc.subject.keywordAuthor | Rocker-bogie mechanism | - |
dc.subject.keywordAuthor | Stair climbing | - |
dc.subject.keywordAuthor | Taguchi methodology | - |
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