Title : ( Parameter Optimization of a Snake Robot Using Taguchi Method )
Authors: Alireza Akbarzadeh Tootoonchi , hadi kalani ,
دانلود فایل برای اعضای دانشگاهAccess to full-text not allowed by authors
Abstract
In this paper, performance of a 16 link snake robot in serpentine locomotion is investigated. Key kinematics and dynamics parameters are identified. The aim of this paper is to minimize average power consumption per unit distance traveled. Dynamic and kinematics equations of snake robot are used to perform simulation and obtain results. Key kinematics parameters are identified. Taguchi method is utilized and orthogonal array table is constructed. ANOVA technique is used to analyze the statistical significance of kinematic and dynamic parameters. Taguchi method is used to determine optimum parameter settings effecting performance of snake robot. Finally, the snake robot is modeled in WEBOTS software and forward motion is obtained.
Keywords
snake robots; Taghuchi method; ANOVA techniqu; consumption energy; distance travel
@inproceedings{paperid:1021333,
author = {Akbarzadeh Tootoonchi, Alireza and Kalani, Hadi},
title = {Parameter Optimization of a Snake Robot Using Taguchi Method},
booktitle = {2nd International Conference on Mechanical, Industrial, and Manufacturing Technologies-MIMT 2011},
year = {2011},
keywords = {snake robots; Taghuchi method; ANOVA techniqu; consumption energy; distance travel},
}
%0 Conference Proceedings
%T Parameter Optimization of a Snake Robot Using Taguchi Method
%A Akbarzadeh Tootoonchi, Alireza
%A Kalani, Hadi
%J 2nd International Conference on Mechanical, Industrial, and Manufacturing Technologies-MIMT 2011
%D 2011
