Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Robust Optimal Design of Tail Geometry for Stable Water-running Robots

수면 주행 로봇의 안정성 향상을 위한 정적 꼬리 기구변수 최적화

  • Lee, DongGyu (School of Mechanical Engineering, Yeungnam University) ;
  • Jang, JaeHyung (School of Mechanical Engineering, Yeungnam University) ;
  • Seo, TaeWon (School of Mechanical Engineering, Yeungnam University)
  • Received : 2016.03.08
  • Accepted : 2016.04.14
  • Published : 2016.04.15
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Abstract

Biomimetics involves the design of robotic platforms inspired from living creatures to achieve efficient operation under environmental conditions. A development within biomimetics involves investigating the function of a tail and applying it to robot design. This study aims to define the function of a static tail for water-running robots, and optimize its geometric and compliance parameters. The rolling angle of the tail is determined by the objective function, while the area and fillet ratio are used for geometric design and compliance parameters in the rolling and yawing directions. Repeated motion of the water-running robot's footpads at frequencies of 9 and 10 Hz is used as the operating condition. Robust design based on the Taguchi methodology is performed via orthogonal arrays. The optimized tail design derived in this study will be implemented in a robotic platform to improve steering and balancing functions in the pitching direction.

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References

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