Title : ( Parameter Optimization of a Snake Robot Using Taguchi Method )
Authors: hadi kalani , Alireza Akbarzadeh Tootoonchi ,
Full TextAbstract
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
@article{paperid:1033633,
author = {Kalani, Hadi and Akbarzadeh Tootoonchi, Alireza},
title = {Parameter Optimization of a Snake Robot Using Taguchi Method},
journal = {Applied Mechanics and Materials},
year = {2011},
volume = {110-116},
number = {1},
month = {October},
issn = {1660-9336},
pages = {4220--4226},
numpages = {6},
keywords = {snake robots; Taghuchi method; ANOVA techniqu; consumption energy; distance travel},
}
%0 Journal Article
%T Parameter Optimization of a Snake Robot Using Taguchi Method
%A Kalani, Hadi
%A Akbarzadeh Tootoonchi, Alireza
%J Applied Mechanics and Materials
%@ 1660-9336
%D 2011
