Robust Design of a Rope Ascender Based on Geometric Parameters of Traction Sheave

Choi, Myeongjin; Chae, Hobyeong; Kim, Kyungmin; Seo, TaeWon

doi:10.1007/s12541-020-00465-y

Cited by 9 publications

(6 citation statements)

References 12 publications

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“…Therefore, the number of pressure modules and the pressure module force were selected as design parameters because these could affect the position repeatability of the rope winch owing to the rope's characteristics. In addition, in the previous research, the authors verified that the friction coefficient varies depending on the axial direction groove pitch angle of the pulley [16]. However, it was necessary to extend examination to the range left unexplored in the previous study, to verify whether the optimal friction coefficient exists in this range or not.…”

Section: B Definition Of Objective Function Design Parameters User Co...mentioning

confidence: 93%

“…The length of the rope was utilized to estimate the position. Reduced position accuracy would hinder the accurate measurement of rope length, thereby causing difficulties in controlling the robot [16]. In addition, the application of a force higher than that intended on a building wall, owing to the position deviation, could damage weak wall materials such as glass panels [17].…”

Section: Introductionmentioning

confidence: 99%

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Position Error Compensation of Façade-Cleaning Robot by Optimal Rope Winch Design

et al. 2021

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Section: B Definition Of Objective Function Design Parameters User Co...mentioning

confidence: 93%

Section: Introductionmentioning

confidence: 99%

Position Error Compensation of Façade-Cleaning Robot by Optimal Rope Winch Design

et al. 2021

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“…As the characteristics of granular media change with the motor RPM and volume fraction, an empirical study is required for the optimal design of ASWs. The Taguchi method was used to optimize the variables of the ASW with the least number of experiments 21,22 . Three levels of the four design variables were used.…”

Section: Taguchi Methodsmentioning

confidence: 99%

Empirical Study on Characteristics of Angled Spoke-Based Wheels on Granular Media

Lee

Ahn

Yoo

et al. 2022

Int. J. Precis. Eng. Manuf.

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In this study, the optimal shape of angled spoke-based wheels (ASWs) was designed to maximize the driving speed of a mobile robot with ASWs on granular media. As a lightweight search and rescue mobile robot, it is required to have a high driving speed to reach the disaster site quickly. When granular media behave as fluids, slippage occurs, and the mobile robot slows down compared with when the media behave similarly to a solid ground. There are no exact criteria to explain the behavior of granular media. Therefore, the Taguchi method and L 9 (3 4 ) orthogonal array were employed to empirically optimize the shape of the ASW. The design variables evaluated were the motor RPM, width-height proportion of the foot, radius of curvature, and toe angle of the foot. The size of the ocher balls was adopted as the user condition. An orthogonal array and signal-to-noise (S/N) ratio were used to analyze the validity of the design variables. The optimal design variables of the ASW were a motor RPM of 6000, width-height proportion of 3:7, radius of curvature of 1.0×h, and toe angle of 15deg. Verification experiments were performed to evaluate the improved driving speed of the ASW. The angular velocity of the ASW increases by 2.79% for φ 1 (mm) and 10.50% for φ 6 (mm). Therefore, an optimized ASW design is expected to improve the driving speed of a mobile robot with ASWs.

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Section: Taguchi Methodsmentioning

confidence: 99%

Empirical Study on Characteristics of Angled Spoke-Based Wheels on Granular Media

Lee

Ahn

Yoo

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

In this study, the optimal shape of angled spoke-based wheels (ASWs) was designed to maximize the driving speed of a mobile robot with ASWs on granular media. As a lightweight search and rescue mobile robot, it is required to have a high driving speed to reach the disaster site quickly. When granular media behave as fluids, slippage occurs, and the mobile robot slows down compared with when the media behave similarly to a solid ground. There are no exact criteria to explain the behavior of granular media. Therefore, the Taguchi method and L9(34) orthogonal array were employed to empirically optimize the shape of the ASW. The design variables evaluated were the motor RPM, width–height proportion of the foot, radius of curvature, and toe angle of the foot. The size of the ocher balls was adopted as the user condition. An orthogonal array and signal–to–noise (S/N) ratio were used to analyze the validity of the design variables. The optimal design variables of the ASW were a motor RPM of 6000, width–height proportion of 3:7, radius of curvature of 1.0×h, and toe angle of 15deg. Verification experiments were performed to evaluate the improved driving speed of the ASW. The angular velocity of the ASW increases by 2.79% for φ1 (mm) and 10.50% for φ6 (mm). Therefore, an optimized ASW design is expected to improve the driving speed of a mobile robot with ASWs.

show abstract

Robust Design of a Rope Ascender Based on Geometric Parameters of Traction Sheave

Cited by 9 publications

References 12 publications

Position Error Compensation of Façade-Cleaning Robot by Optimal Rope Winch Design

Position Error Compensation of Façade-Cleaning Robot by Optimal Rope Winch Design

Empirical Study on Characteristics of Angled Spoke-Based Wheels on Granular Media

Empirical Study on Characteristics of Angled Spoke-Based Wheels on Granular Media

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