Paper Title:
Parameter Optimization of a Snake Robot Using Taguchi Method
  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.

  Info
Periodical
Chapter
Chapter 22: Metrology and Measurement
Edited by
Wu Fan
Pages
4220-4226
DOI
10.4028/www.scientific.net/AMM.110-116.4220
Citation
H. Kalani, A. Akbarzadeh, "Parameter Optimization of a Snake Robot Using Taguchi Method", Applied Mechanics and Materials, Vols. 110-116, pp. 4220-4226, 2012
Online since
October 2011
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Price
$32.00
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