계단 등반을 위한 신개념 로봇 플랫폼의 기구변수 최적화

Title
계단 등반을 위한 신개념 로봇 플랫폼의 기구변수 최적화
Other Titles
Kinematic Optimal Design on a New Robotic Platform for Stair Climbing
Author(s)
서태원서병훈이재원홍승열
Keywords
Stair Climbing Robot (계단등반로봇); Optimal Design (최적설계); Taguchi Methodology (다구찌 방법론); Caterpillar (캐터필러); Kinematic Parameters (기구학 변수)
Issue Date
201304
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.30, no.4, pp.427 - 433
Abstract
Stair climbing is one of critical issues for field robots to widen applicable areas. This paper presents optimal design on kinematic parameters of a new robotic platform for stair climbing. The robotic platform climbs various stairs by body-flip locomotion with caterpillar type main platform. Kinematic parameters such as platform length, platform height, and caterpillar rotation speed are optimized to maximize stair-climbing stability. Three types of stairs are used to simulate typical user conditions. The optimal design process is conducted based on Taguchi methodology, and resulting parameters with optimized objective function are presented. In near future, a prototype is assembled for real environment testing.
URI
http://hdl.handle.net/YU.REPOSITORY/26001http://dx.doi.org/10.7736/KSPE.2013.30.4.427
ISSN
1225-9071
Appears in Collections:
공과대학 > 기계공학부 > Articles
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