Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Kinematic Parameter Optimization of Jumping Robot Using Energy Conversion of Elastic Body

탄성체의 에너지 변환을 이용한 점프 로봇의 기구변수 최적화

  • Choi, JaeNeung (School of Mechanical Engineering, Yeungnam University) ;
  • Lee, Sangho (School of Mechanical Engineering, Yeungnam University) ;
  • Jeong, Kyungmin (Korea Atomic Energy Research Institute) ;
  • Seo, TaeWon (School of Mechanical Engineering, Yeungnam University)
  • Received : 2015.06.06
  • Accepted : 2015.12.04
  • Published : 2016.01.01
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Abstract

Various jumping robot platforms have been developed to carry out missions such as rescues, explorations, or inspections of dangerous environments. We suggested a jumping robot platform using energy conversion of the elastic body like the bar of a pole vault, which is the main part in which elastic force occurs. The compliant link was optimized by an optimization method based on Taguchi methodology, and the robot's leaping ability was improved. Among the parameters, the length, width, and thickness of the link were selected as design variables first while the others were fixed. The level of the design variables was settled, and an orthogonal array about its combination was made. In the experiment, dynamic simulations were conducted using the DAFUL program, and response table and sensitivity analyses were performed. We found optimized values through a level average analysis and sensitivity analysis. As a result, the maximum leaping height of the optimized robot increased by more than 6.2% compared to the initial one, and these data will be used to design a new robot.

Keywords

Acknowledgement

Supported by : 한국연구재단

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