Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2020-11-17T06:14:55Z | - |
dc.date.available | 2020-11-17T06:14:55Z | - |
dc.date.issued | 2019-11 | - |
dc.identifier.citation | Journal of Institute of Control, Robotics and Systems, v. 25, no. 11, page. 1014-1020 | en_US |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.issn | 2233-4335 | - |
dc.identifier.uri | http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE09228935&language=ko_KR | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/155645 | - |
dc.description.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. | en_US |
dc.description.sponsorship | 이 논문은 2019년도 정부(교육부)의 재원과 한국연구재단의 중견연구자지원사업의 지원을 받아 수행된 연구임(NRF-2019R1A2C1008163) | en_US |
dc.language.iso | en | en_US |
dc.publisher | Institute of Control | en_US |
dc.subject | Design of experiment | en_US |
dc.subject | Mobile robot | en_US |
dc.subject | Robust optimization | en_US |
dc.subject | Stair-climbing | en_US |
dc.subject | Tri-wheel | en_US |
dc.title | Optimal Design of Shape of a Curved Tri-Wheel Mechanism for Various Sizes of Stairs | en_US |
dc.title.alternative | 다양한 계단을 오를 수 있는 곡선형 트라이휠 기구변수 최적설계 | en_US |
dc.type | Article | en_US |
dc.relation.no | 11 | - |
dc.relation.volume | 25 | - |
dc.identifier.doi | 10.5302/J.ICROS.2019.19.0150 | - |
dc.relation.page | 1014-1020 | - |
dc.relation.journal | Journal of Institute of Control, Robotics and Systems | - |
dc.contributor.googleauthor | Lee, Yunhyuk | - |
dc.contributor.googleauthor | Lee, Seohyeon | - |
dc.contributor.googleauthor | Oh, Joohyun | - |
dc.contributor.googleauthor | Kim, Hwa Soo | - |
dc.contributor.googleauthor | Seo, TaeWon | - |
dc.contributor.googleauthor | 이윤혁 | - |
dc.contributor.googleauthor | 이서현 | - |
dc.contributor.googleauthor | 오주현 | - |
dc.contributor.googleauthor | 김화수 | - |
dc.contributor.googleauthor | 서태원 | - |
dc.relation.code | 2019022584 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | taewonseo | - |
dc.identifier.orcid | http://orcid.org/0000-0001-9447-7675 | - |
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