Optimal design of hand-carrying rocker-bogie mechanism for stair climbing
- Authors
- Hong, Hee Seung; Seo, TaeWon; Kim, Dongmok; Kim, Sunho; Kim, Jongwon
- Issue Date
- Jan-2013
- Publisher
- KOREAN SOC MECHANICAL ENGINEERS
- Keywords
- Optimal design; Rocker-bogie mechanism; Stair climbing; Taguchi methodology
- Citation
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.27, no.1, pp.125 - 132
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
- Volume
- 27
- Number
- 1
- Start Page
- 125
- End Page
- 132
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/26794
- DOI
- 10.1007/s12206-012-1212-y
- ISSN
- 1738-494X
- 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.
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