9(3⁴) orthogonal array. The experimentally optimized parameters were as follows: the slope angle was 35°, the height of the blade was 14 mm, the number of spirals was one, and the blade had a semicircular cross-section. A verification experiment was conducted with the optimized model to verify the Taguchi method's validity. In conclusion, the robust design using the Taguchi method is suitable for solving the speed problem of a screw-based crawling robot on a granular surface.">

Robust Design of a Screw-Based Crawling Robot on a Granular Surface (original) (raw)

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