Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2022-11-28T05:33:35Z | - |
dc.date.available | 2022-11-28T05:33:35Z | - |
dc.date.issued | 2022-10 | - |
dc.identifier.citation | SCIENTIFIC REPORTS, v. 12, NO. 1, article no. 16912, Page. 1-13 | en_US |
dc.identifier.issn | 2045-2322 | en_US |
dc.identifier.uri | https://www.nature.com/articles/s41598-022-21410-1 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/177679 | - |
dc.description.abstract | This paper presents the design optimization of a linkage-based wheel mechanism with two degrees of freedom, for stable step climbing. The mechanism has seven rotational joints and one prismatic joint. Kinematic and dynamic analyses of the mechanism were performed. The design was optimized in terms of linkage length and architecture to better manipulate the mechanism in its workspace, which was defined here by the targeted step size, as well as to ensure stability while climbing stairs. Optimization by genetic algorithm was performed using MATLAB. The optimized mechanism exhibited enhanced torque transmission from the input torque to the exerted for at the lobe of the wheel. Compliance control of the transformation will be addressed in the future. | en_US |
dc.description.sponsorship | This work was supported by the Basic Science Research Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Science and ICT (NRF-2022R1A2C1007077). | en_US |
dc.language | en | en_US |
dc.publisher | NATURE PORTFOLIO | en_US |
dc.source | 96951_서태원.pdf | - |
dc.title | Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing | en_US |
dc.type | Article | en_US |
dc.relation.no | 1 | - |
dc.relation.volume | 12 | - |
dc.identifier.doi | 10.1038/s41598-022-21410-1 | en_US |
dc.relation.page | 1-13 | - |
dc.relation.journal | SCIENTIFIC REPORTS | - |
dc.contributor.googleauthor | Won, Jeeho | - |
dc.contributor.googleauthor | Ryu, Sijun | - |
dc.contributor.googleauthor | Kim, Sangkyun | - |
dc.contributor.googleauthor | Yoo, Kwan Yeong | - |
dc.contributor.googleauthor | Kim, Hwa Soo | - |
dc.contributor.googleauthor | Seo, Taewon | - |
dc.sector.campus | S | - |
dc.sector.daehak | 공과대학 | - |
dc.sector.department | 기계공학부 | - |
dc.identifier.pid | taewonseo | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.