Design and Analysis of a Hybrid Mobile Robot Mechanism With Compounded Locomotion and Manipulation Capability

2008 ◽  
Vol 130 (7) ◽  
Author(s):  
Pinhas Ben-Tzvi ◽  
Andrew A. Goldenberg ◽  
Jean W. Zu
Keyword(s):  
Mobile Robot ◽  
Mechanical Design ◽  
Component Selection ◽  
Hybrid Mechanism ◽  
Adams Software ◽  
Design Paradigm ◽  
Manipulator Arm ◽  
Enhanced Mobility ◽  
Robot Configurations ◽  
Manipulation Capability

This paper presents a novel design paradigm as well as the related detailed mechanical design embodiment of a mechanically hybrid mobile robot. The robot is composed of a combination of parallel and serially connected links resulting in a hybrid mechanism that consists of a mobile robot platform for locomotion and a manipulator arm for manipulation. Unlike most other mobile robot designs that have a separate manipulator arm module attached on top of the mobile platform, this design has the ability to simultaneously and interchangeably provide locomotion and manipulation capability. This robot enhanced functionality is complemented by an interchangeable track tension and suspension mechanism that is embedded in some of the mobile robot links to form the locomotion subsystem of the robot. The mechanical design was analyzed with a virtual prototype that was developed with MSC ADAMS software. The simulation was used to study the robot’s enhanced mobility characteristics through animations of different possible tasks that require various locomotion and manipulation capabilities. The design was optimized by defining suitable and optimal operating parameters including weight optimization and proper component selection. Moreover, the simulation enabled us to define motor torque requirements and maximize end-effector payload capacity for different robot configurations. Visualization of the mobile robot on different types of virtual terrains such as flat roads, obstacles, stairs, ditches, and ramps has helped in determining the mobile robot’s performance, and final generation of specifications for manufacturing a full scale prototype.

Wireless Modular Control Hardware Architecture for Hybrid Mechanism Mobile Robot

2009 ◽  
Author(s):  
Pinhas Ben-Tzvi
Keyword(s):  
Communication Network ◽  
Wireless Communication ◽  
Mobile Robot ◽  
Hardware Architecture ◽  
Modular Control ◽  
Wireless Communication Network ◽  
Hybrid Mechanism ◽  
Manipulator Arm

This paper presents a new generalized control hardware architecture based on embedded on-board wireless communication network between robot’s links and modules such as the actuators and sensors. This approach results in modular control hardware architecture since no cable connections are used between the actuators and sensors in each of a given mobile robot subsystems (links). The effectiveness of this approach is experimentally demonstrated and validated by implementing it with a hybrid mobile robot mechanism as a case study. The hybrid mobile robot mechanism integrates the locomotion mechanism and manipulator arm mechanism as one entity to support both locomotion and manipulation simultaneously and interchangeably.

RT-Mover: a rough terrain mobile robot with a simple leg–wheel hybrid mechanism

2011 ◽  
Vol 30 (13) ◽  
pp. 1609-1626 ◽  
Author(s):  
Shuro Nakajima
Keyword(s):  
Mobile Robot ◽  
Mechanical Design ◽  
Design Concept ◽  
Rough Terrain ◽  
Personal Mobility ◽  
Mobility Performance ◽  
Stability And Control ◽  
Horizontal Orientation ◽  
Hybrid Mechanism ◽  
And Control

There is a strong demand in many fields for practical robots, such as a porter robot and a personal mobility robot, that can move over rough terrain while carrying a load horizontally. We have developed a robot, called RT-Mover, which shows adequate mobility performance on targeted types of rough terrain. It has four drivable wheels and two leg-like axles but only five active shafts. A strength of this robot is that it realizes both a leg mode and a wheel mode in a simple mechanism. In this paper, the mechanical design concept is discussed. With an emphasis on minimizing the number of drive shafts, a mechanism is designed for a four-wheeled mobile body that is widely used in practical locomotive machinery. Also, strategies for moving on rough terrain are proposed. The kinematics, stability, and control of RT-Mover are also described in detail. Some typical cases of rough terrain for wheel mode and leg mode are selected, and the robot’s ability of locomotion is assessed through simulations and experiments. In each case, the robot is able to move over rough terrain while maintaining the horizontal orientation of its platform.

Mechatronic Design of a Mobile Robot for Personal Assistance

2021 ◽  
Author(s):  
Luigi Tagliavini ◽  
Andrea Botta ◽  
Luca Carbonari ◽  
Giuseppe Quaglia ◽  
Dario Gandini ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Home Environment ◽  
State Of The Art ◽  
Assistive Robotics ◽  
Personal Assistance ◽  
Differential Drive ◽  
Electrical Systems ◽  
Moving Obstacles ◽  
Design Paradigm ◽  
Axisymmetric Shape

Abstract In this paper, a novel mobile platform for assistive robotics tasks is presented. The machine is designed for working in a home environment, un-structured and possibly occupied by people. To work in this space, the platform must be able to get rid of all the consequent difficulties: to overpass small objects as steps and carpets, to operate with an as-high-as-possible dynamics, to avoid moving obstacles, and to navigate autonomously to track persons for person monitoring purposes. The proposed platform is designed to have an omni-directional mobility that improves the manoeuvrability with respect to state-of-the-art differential drive robots. It also will have a non-axisymmetric shape to easily navigate narrow spaces, and real-time edge computing algorithms for navigation. This work shows the design paradigm adopted for the realization of a novel mobile robot, named Paquitop. For a robust output, the design process used a modular approach which disjointed the several sub-systems which compose the machine. After a brief analysis of the expected features, a set of basic requirements are drawn to guide the functional and executive design. The overall architecture of the platform is presented, together with some details on the mechanical and electrical systems.

Design and Analysis of a Camera and Sensor Positioning Mechanism for ARIES: An Autonomous Mobile Robot

1998 ◽  
Author(s):  
David N. Rocheleau ◽  
Matthew M. Moore
Keyword(s):  
South Carolina ◽  
Mobile Robot ◽  
Mechanical Design ◽  
Experimental System ◽  
Department Of Energy ◽  
Autonomous Mobile Robot ◽  
University Of South Carolina ◽  
Clemson University ◽  
Lift Mechanism ◽  
Sensor Package

Abstract ARIES (Autonomous Robotic Inspection Experimental System) is a program for the Department of Energy (DOE) that was charged with the mission of surveying and inspecting drums containing low-level radioactive waste stored in warehouses at DOE facilities. This paper reports on the final development of the ARIES project, and focuses on the mechanical design and analysis of three mechanisms that position a camera and sensor package that sits atop a Cybermotion K3A mobile robotic platform. The ARIES project was executed through a joint effort of three parties: University of South Carolina (USC), Clemson University, and Cybermotion, Inc., of Salem, Virginia. The goal of the project was to develop an autonomous mobile robot that positions a data acquisition package (DAP) which surveys drums containing hazardous materials in Department of Energy (DOE) warehouses. The unique mechanical design of the positioning system is comprised of three distinct components: a lift mechanism, a fourbar mechanism, and a camera panning mechanism. The components are integrated in a manner that allows the DAP to be positioned from 0 to 16 feet off the ground while the robot maneuvers through aisles of drums in a warehouse. The three mechanisms, and the integration thereof, are reported in this paper.

A Robotic Arm for Electric Scooters

2011 ◽  
pp. 94-109
Author(s):  
Samuel N. Cubero
Keyword(s):  
Frail Elderly ◽  
Mechanical Design ◽  
People With Disabilities ◽  
Robotic Arm ◽  
Robot Arm ◽  
Self Sufficiency ◽  
Electric Scooter ◽  
Manipulator Arm ◽  
And Performance ◽  
Three Degree Of Freedom

This chapter describes the mechanical design, manufacture and performance of a three-degree-of-freedom manipulator arm and gripper that can be attached to a mobile vehicle or electric scooter. Known by the acronym “ESRA”, or “Electric Scooter Robot Arm”, this device can be remotely or automatically controlled to pick up and retrieve heavy objects, such as books or grocery products, from high shelves or difficult-to-reach locations. Such tasks are often considered to be arduous or even impossible for the frail elderly and people with disabilities. This chapter describes one example of how the combination of mechanical and electronic engineering technology can be used to perform physically strenuous tasks and enable the frail elderly and people with disabilities to enjoy a greater degree of self-sufficiency, independence and physical productivity. It includes the design process for robotic arm manipulators and actuators. It also provides a brief overview of existing “state of the art” robotic and machine vision technologies, and how these can be used to perform many everyday domestic or household chores.

New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Samer Alfayad ◽  
Fethi B. Ouezdou ◽  
Faycal Namoun
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Power Transmission ◽  
Mechanical Design ◽  
Humanoid Robots ◽  
Classical Solutions ◽  
Kinematic Modeling ◽  
New Class ◽  
Hybrid Mechanism ◽  
And Control

This paper deals with the design of a new class of hybrid mechanism dedicated to humanoid robotics application. Since the designing and control of humanoid robots are still open questions, we propose the use of a new class of mechanisms in order to face several challenges that are mainly the compactness and the high power to mass ratio. Human ankle and wrist joints can be considered more compact with the highest power capacity and the lowest weight. The very important role played by these joints during locomotion or manipulation tasks makes their design and control essential to achieve a robust full size humanoid robot. The analysis of all existing humanoid robots shows that classical solutions (serial or parallel) leading to bulky and heavy structures are usually used. To face these drawbacks and get a slender humanoid robot, a novel three degrees of freedom hybrid mechanism achieved with serial and parallel substructures with a minimal number of moving parts is proposed. This hybrid mechanism that is able to achieve pitch, yaw, and roll movements can be actuated either hydraulically or electrically. For the parallel submechanism, the power transmission is achieved, thanks to cables, which allow the alignment of actuators along the shin or the forearm main axes. Hence, the proposed solution fulfills the requirements induced by both geometrical, power transmission, and biomechanics (range of motion) constraints. All stages including kinematic modeling, mechanical design, and experimentation using the HYDROïD humanoid robot’s ankle mechanism are given in order to demonstrate the novelty and the efficiency of the proposed solution.

1P2-G02 Mechanical Design of the Small Land Mobile Robot for Environmental Monitoring

2015 ◽  
Vol 2015 (0) ◽  
pp. _1P2-G02_1-_1P2-G02_4
Author(s):  
Yuki TSUKAHARA ◽  
Yasuo MATSUI ◽  
Yuya SHIOTA ◽  
Chiemi UEDA ◽  
Yusuke SUGAWARA ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Environmental Monitoring ◽  
Mechanical Design

Design of a Sorting and Conveying Wheeled Mobile Robot

2014 ◽  
Vol 902 ◽  
pp. 207-212
Author(s):  
Yu Lin Wang ◽  
Zheng Ji ◽  
Kuan Huang ◽  
Wei Jun Tao ◽  
Hu Tian Feng ◽  
...  
Keyword(s):  
Mobile Robot ◽  
System Design ◽  
Mechanical Design ◽  
Wheeled Mobile Robot ◽  
Schematic Design

The wheeled mobile robot has been widely used in various fields nowadays. Combining with a contest of mobile robot used for sorting and conveying objects, this paper designed a non-tracking wheeled mobile robot, which can move according to a reasonable route planned beforehand. First, the overall schematic design of mobile robot was introduced. Then the mechanical design and the circuit system design were discussed in detail. Last, the strategy of sorting and conveying was studied, and the innovative rotary-wheel mechanism can greatly simplify the sorting and conveying strategy. Through experiment verified, the proposed wheeled mobile robot can quickly achieve sorting and conveying according to preplanned paths.

Trajectory control of a mobile manipulator in the presence of base disturbance

SIMULATION ◽  
2018 ◽  
Vol 95 (6) ◽  
pp. 529-543 ◽  
Author(s):  
RV Ram ◽  
PM Pathak ◽  
SJ Junco
Keyword(s):  
Mobile Robot ◽  
Dynamic Models ◽  
Control Strategies ◽  
Effective Control ◽  
Mobile Manipulator ◽  
Dynamic Interactions ◽  
Additional Task ◽  
Manipulator Arm ◽  
And Control ◽  
Base Disturbance

A mobile manipulator is typically an assembly of a mobile robot base and an on-board manipulator arm. As the manipulator arm is mounted over the mobile robot base, the controller has the additional task of taking care of the disturbances of the mobile robot due to the dynamic interactions between the mobile robot base and manipulator arm. In the present work, dynamic models for the manipulator arm and an omni-wheeled mobile robot base were developed separately and then both were combined. Two control strategies, namely only manipulator arm control (OMAC) and simultaneous manipulator and base control (SMBC) were developed for the effective control of tip trajectory. In both strategies, an amnesia recovery coupled with classical proportional integral and derivative (PID) control was used. The bond graph methodology was used for the development of the dynamic model and control for the mobile manipulator. Simulation results are presented to illustrate the efficacy of the two control strategies.

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