Optimal design of hand-carrying rocker-bogie mechanism for stair climbing

Title
Optimal design of hand-carrying rocker-bogie mechanism for stair climbing
Author(s)
서태원홍희승[홍희승]김동목[김동목]김선호[김선호]김종원[김종원]
Keywords
MOBILE ROBOT; ROVER
Issue Date
201301
Publisher
KOREAN SOC MECHANICAL ENGINEERS
Citation
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.27, no.1, pp.125 - 132
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.
URI
http://hdl.handle.net/YU.REPOSITORY/26855http://dx.doi.org/10.1007/s12206-012-1212-y
ISSN
1738-494X
Appears in Collections:
공과대학 > 기계공학부 > Articles
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