Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing

This paper presents the design optimization of a linkage-based wheel mechanism with two degrees of freedom, for stable step climbing. The mechanism has seven rotational joints and one prismatic joint. Kinematic and dynamic analyses of the mechanism were performed. The design was optimized in terms o...

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Detalles Bibliográficos
Autores principales: Won, Jeeho, Ryu, Sijun, Kim, Sangkyun, Yoo, Kwan Yeong, Kim, Hwa Soo, Seo, Taewon
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Nature Publishing Group UK 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9547076/
https://www.ncbi.nlm.nih.gov/pubmed/36207391
http://dx.doi.org/10.1038/s41598-022-21410-1
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author Won, Jeeho
Ryu, Sijun
Kim, Sangkyun
Yoo, Kwan Yeong
Kim, Hwa Soo
Seo, Taewon
author_facet Won, Jeeho
Ryu, Sijun
Kim, Sangkyun
Yoo, Kwan Yeong
Kim, Hwa Soo
Seo, Taewon
author_sort Won, Jeeho
collection PubMed
description This paper presents the design optimization of a linkage-based wheel mechanism with two degrees of freedom, for stable step climbing. The mechanism has seven rotational joints and one prismatic joint. Kinematic and dynamic analyses of the mechanism were performed. The design was optimized in terms of linkage length and architecture to better manipulate the mechanism in its workspace, which was defined here by the targeted step size, as well as to ensure stability while climbing stairs. Optimization by genetic algorithm was performed using MATLAB. The optimized mechanism exhibited enhanced torque transmission from the input torque to the exerted for at the lobe of the wheel. Compliance control of the transformation will be addressed in the future.
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spelling pubmed-95470762022-10-09 Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing Won, Jeeho Ryu, Sijun Kim, Sangkyun Yoo, Kwan Yeong Kim, Hwa Soo Seo, Taewon Sci Rep Article This paper presents the design optimization of a linkage-based wheel mechanism with two degrees of freedom, for stable step climbing. The mechanism has seven rotational joints and one prismatic joint. Kinematic and dynamic analyses of the mechanism were performed. The design was optimized in terms of linkage length and architecture to better manipulate the mechanism in its workspace, which was defined here by the targeted step size, as well as to ensure stability while climbing stairs. Optimization by genetic algorithm was performed using MATLAB. The optimized mechanism exhibited enhanced torque transmission from the input torque to the exerted for at the lobe of the wheel. Compliance control of the transformation will be addressed in the future. Nature Publishing Group UK 2022-10-07 /pmc/articles/PMC9547076/ /pubmed/36207391 http://dx.doi.org/10.1038/s41598-022-21410-1 Text en © The Author(s) 2022 https://creativecommons.org/licenses/by/4.0/Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) .
spellingShingle Article
Won, Jeeho
Ryu, Sijun
Kim, Sangkyun
Yoo, Kwan Yeong
Kim, Hwa Soo
Seo, Taewon
Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing
title Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing
title_full Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing
title_fullStr Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing
title_full_unstemmed Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing
title_short Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing
title_sort design optimization of a linkage-based 2-dof wheel mechanism for stable step climbing
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9547076/
https://www.ncbi.nlm.nih.gov/pubmed/36207391
http://dx.doi.org/10.1038/s41598-022-21410-1
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