Robust Design of a Screw-Based Crawling Robot on a Granular Surface

In this paper, a robust design of screw wheel is presented, based on the Taguchi method to accelerate screw-based crawling robot. Screw-based robots have been studied before, but their application limited because speed. To solve problem, applied for geometry driving granular surfaces, such as desert sand, which has not before. Each four parameters determining and two user conditions were set at three levels, was through L 9 (3 4 ) orthogonal array. The experimentally optimized follows: slope angle 35°, height blade 14 mm, number spirals one, had semicircular cross-section. A verification experiment conducted with model verify method's validity. conclusion, using suitable solving speed problem robot surface.