Optimal design of hand-carrying rocker-bogie mechanism for stair climbing View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2013-01

AUTHORS

Hee Seung Hong, TaeWon Seo, Dongmok Kim, Sunho Kim, Jongwon Kim

ABSTRACT

Transporting heavy packages while climbing stairs can be a very difficult or dangerous task. In situations where this task is frequently required such as construction sites, workers would use equipment such as a back rack for convenience, but still it becomes a difficult task as the weight increases. In this paper, we propose a stair climbing hand-carrying cart based on the rocker-bogie mechanism. We conduct an optimal design of the kinematic variables of the rocker-bogie mechanism for stable stair climbing using Taguchi methodology. Fluctuations and a tilted angle during stair climbing are considered to formulate the objective function. Three different shapes of typical stairs are selected as user conditions to determine a robust optimal solution. The results are verified by experiments using a testing set-up of three stair profiles, and the experimental results are compared with simulation. We expect that the results of this research can be applied to stair climbing robot design. More... »

PAGES

125-132

References to SciGraph publications

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s12206-012-1212-y

DOI

http://dx.doi.org/10.1007/s12206-012-1212-y

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1026813229


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Artificial Intelligence and Image Processing", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Information and Computing Sciences", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "Seoul National University", 
          "id": "https://www.grid.ac/institutes/grid.31501.36", 
          "name": [
            "School of Mechanical and Aerospace Engineering, Seoul National University, 151-742, Seoul, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Hong", 
        "givenName": "Hee Seung", 
        "id": "sg:person.013656402045.25", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013656402045.25"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Yeungnam University", 
          "id": "https://www.grid.ac/institutes/grid.413028.c", 
          "name": [
            "School of Mechanical Engineering, Yeungnam University, 712-749, Gyeongsan, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Seo", 
        "givenName": "TaeWon", 
        "id": "sg:person.012275375477.90", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012275375477.90"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Seoul National University", 
          "id": "https://www.grid.ac/institutes/grid.31501.36", 
          "name": [
            "School of Mechanical and Aerospace Engineering, Seoul National University, 151-742, Seoul, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Kim", 
        "givenName": "Dongmok", 
        "id": "sg:person.013061021445.02", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013061021445.02"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Seoul National University", 
          "id": "https://www.grid.ac/institutes/grid.31501.36", 
          "name": [
            "School of Mechanical and Aerospace Engineering, Seoul National University, 151-742, Seoul, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Kim", 
        "givenName": "Sunho", 
        "id": "sg:person.016640606531.36", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.016640606531.36"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Seoul National University", 
          "id": "https://www.grid.ac/institutes/grid.31501.36", 
          "name": [
            "School of Mechanical and Aerospace Engineering, Seoul National University, 151-742, Seoul, Korea"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Kim", 
        "givenName": "Jongwon", 
        "id": "sg:person.013611426734.26", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013611426734.26"
        ], 
        "type": "Person"
      }
    ], 
    "citation": [
      {
        "id": "sg:pub.10.1007/s12206-010-0911-5", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1001399248", 
          "https://doi.org/10.1007/s12206-010-0911-5"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s10514-006-5364-4", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1004286791", 
          "https://doi.org/10.1007/s10514-006-5364-4"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s10514-006-5364-4", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1004286791", 
          "https://doi.org/10.1007/s10514-006-5364-4"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s12206-009-1174-x", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1013642377", 
          "https://doi.org/10.1007/s12206-009-1174-x"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s12206-010-0714-8", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1019153625", 
          "https://doi.org/10.1007/s12206-010-0714-8"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s12206-010-0714-8", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1019153625", 
          "https://doi.org/10.1007/s12206-010-0714-8"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1016/j.mechmachtheory.2011.11.013", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1029146068"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s12206-009-1108-7", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1043890490", 
          "https://doi.org/10.1007/s12206-009-1108-7"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "sg:pub.10.1007/s12206-009-1108-7", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1043890490", 
          "https://doi.org/10.1007/s12206-009-1108-7"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1017/s0263574799002234", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1053911030"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1115/1.4002268", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1062142618"
        ], 
        "type": "CreativeWork"
      }
    ], 
    "datePublished": "2013-01", 
    "datePublishedReg": "2013-01-01", 
    "description": "Transporting heavy packages while climbing stairs can be a very difficult or dangerous task. In situations where this task is frequently required such as construction sites, workers would use equipment such as a back rack for convenience, but still it becomes a difficult task as the weight increases. In this paper, we propose a stair climbing hand-carrying cart based on the rocker-bogie mechanism. We conduct an optimal design of the kinematic variables of the rocker-bogie mechanism for stable stair climbing using Taguchi methodology. Fluctuations and a tilted angle during stair climbing are considered to formulate the objective function. Three different shapes of typical stairs are selected as user conditions to determine a robust optimal solution. The results are verified by experiments using a testing set-up of three stair profiles, and the experimental results are compared with simulation. We expect that the results of this research can be applied to stair climbing robot design.", 
    "genre": "research_article", 
    "id": "sg:pub.10.1007/s12206-012-1212-y", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": false, 
    "isPartOf": [
      {
        "id": "sg:journal.1295111", 
        "issn": [
          "1011-8861", 
          "1226-4865"
        ], 
        "name": "Journal of Mechanical Science and Technology", 
        "type": "Periodical"
      }, 
      {
        "issueNumber": "1", 
        "type": "PublicationIssue"
      }, 
      {
        "type": "PublicationVolume", 
        "volumeNumber": "27"
      }
    ], 
    "name": "Optimal design of hand-carrying rocker-bogie mechanism for stair climbing", 
    "pagination": "125-132", 
    "productId": [
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "7fbbd219130f64a762d81f393182910bbd0763f15a8d639a166e42c81a25a2e8"
        ]
      }, 
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/s12206-012-1212-y"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1026813229"
        ]
      }
    ], 
    "sameAs": [
      "https://doi.org/10.1007/s12206-012-1212-y", 
      "https://app.dimensions.ai/details/publication/pub.1026813229"
    ], 
    "sdDataset": "articles", 
    "sdDatePublished": "2019-04-10T18:22", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8675_00000522.jsonl", 
    "type": "ScholarlyArticle", 
    "url": "http://link.springer.com/10.1007%2Fs12206-012-1212-y"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/s12206-012-1212-y'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/s12206-012-1212-y'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/s12206-012-1212-y'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/s12206-012-1212-y'


 

This table displays all metadata directly associated to this object as RDF triples.

121 TRIPLES      21 PREDICATES      35 URIs      19 LITERALS      7 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/s12206-012-1212-y schema:about anzsrc-for:08
2 anzsrc-for:0801
3 schema:author N20a6728a6bee4bf9b7134fcb9f08819b
4 schema:citation sg:pub.10.1007/s10514-006-5364-4
5 sg:pub.10.1007/s12206-009-1108-7
6 sg:pub.10.1007/s12206-009-1174-x
7 sg:pub.10.1007/s12206-010-0714-8
8 sg:pub.10.1007/s12206-010-0911-5
9 https://doi.org/10.1016/j.mechmachtheory.2011.11.013
10 https://doi.org/10.1017/s0263574799002234
11 https://doi.org/10.1115/1.4002268
12 schema:datePublished 2013-01
13 schema:datePublishedReg 2013-01-01
14 schema:description Transporting heavy packages while climbing stairs can be a very difficult or dangerous task. In situations where this task is frequently required such as construction sites, workers would use equipment such as a back rack for convenience, but still it becomes a difficult task as the weight increases. In this paper, we propose a stair climbing hand-carrying cart based on the rocker-bogie mechanism. We conduct an optimal design of the kinematic variables of the rocker-bogie mechanism for stable stair climbing using Taguchi methodology. Fluctuations and a tilted angle during stair climbing are considered to formulate the objective function. Three different shapes of typical stairs are selected as user conditions to determine a robust optimal solution. The results are verified by experiments using a testing set-up of three stair profiles, and the experimental results are compared with simulation. We expect that the results of this research can be applied to stair climbing robot design.
15 schema:genre research_article
16 schema:inLanguage en
17 schema:isAccessibleForFree false
18 schema:isPartOf Nd60c064021a445d4b15cb4e44cdf544a
19 Nff5e6f71eac9411eaeb42cfeb9cd786d
20 sg:journal.1295111
21 schema:name Optimal design of hand-carrying rocker-bogie mechanism for stair climbing
22 schema:pagination 125-132
23 schema:productId Nb8cfe2b0d5cf47ca8a6a04341bf169fa
24 Ncb7dd61557564990b24c66280a4d3fd3
25 Nfe944b85ce4241d6a751a48150cc8ff6
26 schema:sameAs https://app.dimensions.ai/details/publication/pub.1026813229
27 https://doi.org/10.1007/s12206-012-1212-y
28 schema:sdDatePublished 2019-04-10T18:22
29 schema:sdLicense https://scigraph.springernature.com/explorer/license/
30 schema:sdPublisher N8dfb7674fc7641079d05e11c046a8b5b
31 schema:url http://link.springer.com/10.1007%2Fs12206-012-1212-y
32 sgo:license sg:explorer/license/
33 sgo:sdDataset articles
34 rdf:type schema:ScholarlyArticle
35 N0d71d5d31fe04b4eb0c618c3cb08bb1e rdf:first sg:person.013611426734.26
36 rdf:rest rdf:nil
37 N10102a2de30043e2a26eb5f2f6d7b800 rdf:first sg:person.012275375477.90
38 rdf:rest N8587818e19a7487f986464261024a242
39 N20a6728a6bee4bf9b7134fcb9f08819b rdf:first sg:person.013656402045.25
40 rdf:rest N10102a2de30043e2a26eb5f2f6d7b800
41 N8587818e19a7487f986464261024a242 rdf:first sg:person.013061021445.02
42 rdf:rest Nd4584d260a0c41809cdc70a14ef61633
43 N8dfb7674fc7641079d05e11c046a8b5b schema:name Springer Nature - SN SciGraph project
44 rdf:type schema:Organization
45 Nb8cfe2b0d5cf47ca8a6a04341bf169fa schema:name readcube_id
46 schema:value 7fbbd219130f64a762d81f393182910bbd0763f15a8d639a166e42c81a25a2e8
47 rdf:type schema:PropertyValue
48 Ncb7dd61557564990b24c66280a4d3fd3 schema:name dimensions_id
49 schema:value pub.1026813229
50 rdf:type schema:PropertyValue
51 Nd4584d260a0c41809cdc70a14ef61633 rdf:first sg:person.016640606531.36
52 rdf:rest N0d71d5d31fe04b4eb0c618c3cb08bb1e
53 Nd60c064021a445d4b15cb4e44cdf544a schema:volumeNumber 27
54 rdf:type schema:PublicationVolume
55 Nfe944b85ce4241d6a751a48150cc8ff6 schema:name doi
56 schema:value 10.1007/s12206-012-1212-y
57 rdf:type schema:PropertyValue
58 Nff5e6f71eac9411eaeb42cfeb9cd786d schema:issueNumber 1
59 rdf:type schema:PublicationIssue
60 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
61 schema:name Information and Computing Sciences
62 rdf:type schema:DefinedTerm
63 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
64 schema:name Artificial Intelligence and Image Processing
65 rdf:type schema:DefinedTerm
66 sg:journal.1295111 schema:issn 1011-8861
67 1226-4865
68 schema:name Journal of Mechanical Science and Technology
69 rdf:type schema:Periodical
70 sg:person.012275375477.90 schema:affiliation https://www.grid.ac/institutes/grid.413028.c
71 schema:familyName Seo
72 schema:givenName TaeWon
73 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012275375477.90
74 rdf:type schema:Person
75 sg:person.013061021445.02 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
76 schema:familyName Kim
77 schema:givenName Dongmok
78 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013061021445.02
79 rdf:type schema:Person
80 sg:person.013611426734.26 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
81 schema:familyName Kim
82 schema:givenName Jongwon
83 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013611426734.26
84 rdf:type schema:Person
85 sg:person.013656402045.25 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
86 schema:familyName Hong
87 schema:givenName Hee Seung
88 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013656402045.25
89 rdf:type schema:Person
90 sg:person.016640606531.36 schema:affiliation https://www.grid.ac/institutes/grid.31501.36
91 schema:familyName Kim
92 schema:givenName Sunho
93 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.016640606531.36
94 rdf:type schema:Person
95 sg:pub.10.1007/s10514-006-5364-4 schema:sameAs https://app.dimensions.ai/details/publication/pub.1004286791
96 https://doi.org/10.1007/s10514-006-5364-4
97 rdf:type schema:CreativeWork
98 sg:pub.10.1007/s12206-009-1108-7 schema:sameAs https://app.dimensions.ai/details/publication/pub.1043890490
99 https://doi.org/10.1007/s12206-009-1108-7
100 rdf:type schema:CreativeWork
101 sg:pub.10.1007/s12206-009-1174-x schema:sameAs https://app.dimensions.ai/details/publication/pub.1013642377
102 https://doi.org/10.1007/s12206-009-1174-x
103 rdf:type schema:CreativeWork
104 sg:pub.10.1007/s12206-010-0714-8 schema:sameAs https://app.dimensions.ai/details/publication/pub.1019153625
105 https://doi.org/10.1007/s12206-010-0714-8
106 rdf:type schema:CreativeWork
107 sg:pub.10.1007/s12206-010-0911-5 schema:sameAs https://app.dimensions.ai/details/publication/pub.1001399248
108 https://doi.org/10.1007/s12206-010-0911-5
109 rdf:type schema:CreativeWork
110 https://doi.org/10.1016/j.mechmachtheory.2011.11.013 schema:sameAs https://app.dimensions.ai/details/publication/pub.1029146068
111 rdf:type schema:CreativeWork
112 https://doi.org/10.1017/s0263574799002234 schema:sameAs https://app.dimensions.ai/details/publication/pub.1053911030
113 rdf:type schema:CreativeWork
114 https://doi.org/10.1115/1.4002268 schema:sameAs https://app.dimensions.ai/details/publication/pub.1062142618
115 rdf:type schema:CreativeWork
116 https://www.grid.ac/institutes/grid.31501.36 schema:alternateName Seoul National University
117 schema:name School of Mechanical and Aerospace Engineering, Seoul National University, 151-742, Seoul, Korea
118 rdf:type schema:Organization
119 https://www.grid.ac/institutes/grid.413028.c schema:alternateName Yeungnam University
120 schema:name School of Mechanical Engineering, Yeungnam University, 712-749, Gyeongsan, Korea
121 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...