Autonomous Docking of Hybrid-Wheeled Modular Robots with an Integrated Active Genderless Docking Mechanism

2021 ◽  
pp. 1-36
Author(s):  
Shubhdildeep S. Sohal ◽  
Bijo Sebastian ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Visual Servoing ◽  
Mechanical Design ◽  
Low Cost ◽  
Image Plane ◽  
Robotic Systems ◽  
Modular Robots ◽  
Tracking Accuracy ◽  
Drive Mechanism ◽  
Docking Mechanism ◽  
Autonomous Docking

Abstract This paper presents a self-reconfigurable modular robot with an integrated 2-DOF active docking mechanism. Active docking in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the structural benefits of large systems. This feature enables reconfigurable modular robotic systems to bridge the gap between small agile systems and larger robotic systems. The proposed self-reconfigurable mobile robot design exhibits dual mobility using a tracked drive mechanism for longitudinal locomotion and a wheeled drive mechanism for lateral locomotion. The 2-DOF docking interface allows for efficient docking while tolerating misalignments. To aid autonomous docking, visual marker-based tracking is used to detect and re-position the source robot relative to the target robot. The tracked features are then used in Image-Based Visual Servoing to bring the robots close enough for the docking procedure. The hybrid-tracking algorithm allows eliminating external pixelated noise in the image plane resulting in higher tracking accuracy along with faster frame update on a low-cost onboard computational device. This paper presents the overall mechanical design and the integration details of the modular robotic module with the docking mechanism. An overview of the autonomous tracking and docking algorithm is presented along-with a proof-of-concept real world demonstration of the autonomous docking and self-reconfigurability. Experimental results to validate the robustness of the proposed tracking method, as well as the reliability of the autonomous docking procedure, are also presented.

An Autonomous Docking Mechanism for Vertical Lift Unmanned Aircraft

2019 ◽  
Vol 11 (6) ◽  
Author(s):  
John Papayanopoulos ◽  
Kevin Webb ◽  
Jonathan Rogers
Keyword(s):  
Measurement Errors ◽  
Closed Loop ◽  
Mechanical Design ◽  
Tracking System ◽  
Unmanned Aircraft ◽  
Wide Range ◽  
Air Vehicle ◽  
Docking Mechanism ◽  
Infrared Tracking ◽  
Autonomous Docking

Abstract Unmanned aerial vehicles are increasingly being tasked to connect to payload objects or docking stations for the purposes of package transport or recharging. However, autonomous docking creates challenges in that the air vehicle must precisely position itself with respect to the dock, oftentimes in the presence of uncertain winds and measurement errors. This paper describes an autonomous docking mechanism comprising a static ring and actuated legs, coupled with an infrared tracking device for closed-loop docking maneuvers. The dock’s unique mechanical design enables precise passive positioning such that the air vehicle slides into a precise location and orientation in the dock from a wide range of entry conditions. This leads to successful docking in the presence of winds and sensor measurement errors. A closed-loop infrared tracking system is also described in which the vehicle tracks an infrared beacon located on the dock during the descent to landing. A detailed analysis is presented describing the interaction dynamics between the aircraft and the dock, and system parameters are optimized through the use of trade studies and Monte Carlo analysis with a three degree-of-freedom simulation model. Experimental results are presented demonstrating successful docking maneuvers of an autonomous air vehicle in both indoor and outdoor environments. These repeatable docking experiments verify the robustness and practical utility of the dock design for a variety of emerging applications.

Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System

2016 ◽  
Vol 8 (5) ◽  
Author(s):  
Joshua D. Davis ◽  
Yunuscan Sevimli ◽  
Baxter R. Eldridge ◽  
Gregory S. Chirikjian
Keyword(s):  
Low Cost ◽  
Robotic Systems ◽  
Modular Robots ◽  
Design Constraints ◽  
Module Design ◽  
The Past ◽  
New Novel ◽  
Operational Capabilities ◽  
Mapping Task

Modular robots have captured the interest of the robotics community over the past several years. In particular, many modular robotic systems are reconfigurable, robust against faults, and low-cost due to mass production of a small number of different homogeneous modules. Faults in these systems are normally tolerated through redundancy or corrected by discarding damaged modules, which reduces the operational capabilities of the robot. To overcome these difficulties, we previously developed and discussed the general design constraints of a heterogeneous modular robotic system (Hex-DMR II) capable of autonomous team repair and diagnosis. In this paper, we discuss the design of each module, in detail, and present a new, novel elevator module. Then, we introduce a forestlike structure that enumerates every non-isomorphic, functional agent configuration of our system. Finally, we present a case study contrasting the kinematics and power consumption of two particular configurations during a mapping task.

Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System

2015 ◽  
Author(s):  
Joshua D. Davis ◽  
Yunuscan Sevimli ◽  
Baxter R. Eldridge ◽  
Gregory S. Chirikjian
Keyword(s):  
Low Cost ◽  
Robotic Systems ◽  
Modular Robots ◽  
Design Constraints ◽  
Module Design ◽  
The Past ◽  
New Novel ◽  
Operational Capabilities ◽  
Mapping Task

Modular robots have sustained the interest of the robotics community over the past several years. In particular, many modular robotic systems are reconfigurable, robust against faults, and low-cost due to mass production of a small number of homogeneous modules. Faults in these systems are normally tolerated through redundancy or corrected by discarding damaged modules which reduces the operational capabilities of the robot. To overcome these difficulties, we developed and discussed the general design constraints of a heterogeneous modular robotic system (Hex-DMR II) capable of autonomous team repair and diagnosis. In this paper, we discuss the design of each module, in detail, and present a new, novel elevator module. Then, we introduce a forest-like structure that enumerates every non-isomorphic, functional agent configuration of our system. Finally, we present a case study contrasting the kinematics and power consumption of two particular configurations during a mapping task.

Mechanical Design of a Low Cost Transhumeral Prosthesis

2017 ◽  
Author(s):  
Luis Arturo Gómez Malagón ◽  
João Luiz Vilar Dias
Keyword(s):  
Mechanical Design ◽  
Low Cost

Electrostatic bellow muscle actuators and energy harvesters that stack up

2021 ◽  
Vol 6 (51) ◽  
pp. eaaz5796
Author(s):  
I. D. Sîrbu ◽  
G. Moretti ◽  
G. Bortolotti ◽  
M. Bolignari ◽  
S. Diré ◽  
...  
Keyword(s):  
High Performance ◽  
High Reliability ◽  
Low Cost ◽  
Artificial Muscle ◽  
Pressure Head ◽  
Robotic Systems ◽  
Maximum Pressure ◽  
Term Operation ◽  
Energy Harvesters ◽  
Out Of Plane

Future robotic systems will be pervasive technologies operating autonomously in unknown spaces that are shared with humans. Such complex interactions make it compulsory for them to be lightweight, soft, and efficient in a way to guarantee safety, robustness, and long-term operation. Such a set of qualities can be achieved using soft multipurpose systems that combine, integrate, and commute between conventional electromechanical and fluidic drives, as well as harvest energy during inactive actuation phases for increased energy efficiency. Here, we present an electrostatic actuator made of thin films and liquid dielectrics combined with rigid polymeric stiffening elements to form a circular electrostatic bellow muscle (EBM) unit capable of out-of-plane contraction. These units are easy to manufacture and can be arranged in arrays and stacks, which can be used as a contractile artificial muscle, as a pump for fluid-driven soft robots, or as an energy harvester. As an artificial muscle, EBMs of 20 to 40 millimeters in diameter can exert forces of up to 6 newtons, lift loads over a hundred times their own weight, and reach contractions of over 40% with strain rates over 1200% per second, with a bandwidth over 10 hertz. As a pump driver, these EBMs produce flow rates of up to 0.63 liters per minute and maximum pressure head of 6 kilopascals, whereas as generator, they reach a conversion efficiency close to 20%. The compact shape, low cost, simple assembling procedure, high reliability, and large contractions make the EBM a promising technology for high-performance robotic systems.

Design and operation of a tripod walking robot via dynamics simulation

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 733-743 ◽  
Author(s):  
Conghui Liang ◽  
Hao Gu ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Three Dimensional ◽  
The Body ◽  
Dynamics Simulation ◽  
Walking Ability ◽  
Walking Robot ◽  
Three Dimensional Model ◽  
Software Environment ◽  
Leg Mechanisms

SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

Controlling Modular Reconfigurable Robots With Handheld Smart Devices

2011 ◽  
Author(s):  
David Ko ◽  
Nalaka Kahawatte ◽  
Harry H. Cheng
Keyword(s):  
Graphical User Interface ◽  
Degrees Of Freedom ◽  
Robotic Systems ◽  
Effective Control ◽  
Smart Devices ◽  
Modular Robots ◽  
Reconfigurable Robots ◽  
Processing Power ◽  
Static Data ◽  
Remote Controller

Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology for controlling reconfigurable modular robots typically use gait tables to control the modules. Gait tables are static data structures and do not readily support realtime teleoperation. Teleoperation techniques for traditional wheeled, flying, or submerged robots typically use a set of joysticks to control the robots. However, these traditional methods of robot teleoperation are not suitable for reconfigurable modular robotic systems which may have dozens of controllable degrees of freedom. This research shows that modern cell phones serve as highly effective control platforms for modular robots because of their programmability, flexibility, wireless communication capabilities, and increased processing power. As a result of this research, a versatile Graphical User Interface, a set of libraries and tools have been developed which even a novice robotics enthusiast can use to easily program their mobile phones to control their hobby project. These libraries will be beneficial in any situation where it is effective for the operator to use an off-the-shelf, relatively inexpensive, hand-held mobile phone as a remote controller rather than a considerably heavy and bulky remote controllers which are popular today. Several usage examples and experiments are presented which demonstrate the controller’s ability to effectively control a modular robot to perform a series of complex gaits and poses, as well as navigating a module through an obstacle course.

scholarly journals A Cotton Module Feeder Plastic Contamination Inspection System

2020 ◽  
Vol 2 (2) ◽  
pp. 280-293
Author(s):  
Mathew G. Pelletier ◽  
Greg A. Holt ◽  
John D. Wanjura
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Processing System ◽  
Technical Note ◽  
Inspection System ◽  
Learning Program ◽  
Cotton Lint ◽  
Cotton Industry ◽  
Bill Of Materials ◽  
The U.S

The removal of plastic contamination in cotton lint is an issue of top priority to the U.S. cotton industry. One of the main sources of plastic contamination showing up in marketable cotton bales, at the U.S. Department of Agriculture’s classing office, is plastic from the module wrap used to wrap cotton modules produced by the new John Deere round module harvesters. Despite diligent efforts by cotton ginning personnel to remove all plastic encountered during unwrapping of the seed cotton modules, plastic still finds a way into the cotton gin’s processing system. To help mitigate plastic contamination at the gin; an inspection system was developed that utilized low-cost color cameras to see plastic on the module feeder’s dispersing cylinders, that are normally hidden from view by the incoming feed of cotton modules. This technical note presents the design of an automated intelligent machine-vision guided cotton module-feeder inspection system. The system includes a machine-learning program that automatically detects plastic contamination in order to alert the cotton gin personnel as to the presence of plastic contamination on the module feeder’s dispersing cylinders. The system was tested throughout the entire 2019 cotton ginning season at two commercial cotton gins and at one gin in the 2018 ginning season. This note describes the over-all system and mechanical design and provides an over-view and coverage of key relevant issues. Included as an attachment to this technical note are all the mechanical engineering design files as well as the bill-of-materials part source list. A discussion of the observational impact the system had on reduction of plastic contamination is also addressed.

Flexible Prosthetic Vein Valve

2006 ◽  
Vol 1 (2) ◽  
pp. 105-112 ◽  
Author(s):  
Rahul D. Sathe ◽  
David N. Ku
Keyword(s):  
Mechanical Design ◽  
Varicose Veins ◽  
Low Cost ◽  
Bench Test ◽  
Design Criteria ◽  
Flow Loop ◽  
Opening Pressure ◽  
Vein Thrombosis ◽  
Cyclic Flow ◽  
Opening And Closing

Over 7 million Americans suffer from chronic venous insufficiency (CVI), a disease that affects the venous system of the lower extremities. Problems associated with CVI include ulcerations, bleeding, swelling, and varicose veins, as well as deep vein thrombosis and pulmonary embolism. The presence of CVI is the result of incompetent, or malfunctioning, one-way vein valves in leg veins. There are few effective clinical therapies for treating CVI and there are currently no prosthetic vein valves commercially available. The purpose of this study was to define clinically relevant design requirements, develop functional tests for assessing a prosthetic vein valve, and design and fabricate a functional prosthetic vein valve for eventual clinical use. Engineering design methods were used to develop the valve, building a product based on well-defined consumer needs and design specifications. Emphasis was placed on creating a valve with potential clinical functionality. This clinical functionality was distilled into three major design criteria: that the valve (1) withstand backpressure of 300mmHg with less than 1.0mL∕min of leakage; (2) open with distal pressure gradients less than 5mmHg; and (3) meet criteria 1 and 2 after 500,000cycles of opening and closing. Hydrostatic testing was conducted to measure the opening pressure and reflux leak rate of the valve. Cyclic life functionality was assessed using a cyclic flow loop simulating physiologic conditions of cyclic flow and pressure found in leg veins. The valve opened with a pressure of 2.6mmHg±0.7mmHg, which matches physiologic vein valve function. The valve also withstood 300mmHg of backpressure with less than 0.5mL∕min of leakage, and maintained this performance even after 508,000cycles of opening and closing in simulated physiologic conditions. The valve’s burst pressure was a minimum of 530mmHg±10mmHg, six times greater than physiologic pressure natural vein valves experience. The valve continued to function well in an environment of vein-like tube expansion. The newly designed bi-leaflet prosthetic valve is comprised of a flexible, biocompatible material. Bench test results have shown that the valve is hydrodynamically functional and meets the mechanical design criteria for backpressure competency and opening pressure after 500,000cycles. Finally, the valve can be manufactured easily with low cost.

scholarly journals MANUFACTURE OF A DIE PROTOTYPE FOR DIDACTIC PURPOSES IN MECHATRONIC ENGINEERING

2020 ◽  
pp. 1-40
Author(s):  
ELIEL EDUARDO MONTIJO-VALENZUELA ◽  
SAUL DANIEL DURAN-JIMENEZ ◽  
LUIS ALBERTO ALTAMIRANO-RÍOS ◽  
JOSÉ ISAEL PÉREZ-GÓMEZ ◽  
OSCAR SALMÓN-AROCHI
Keyword(s):  
Mechanical Design ◽  
Theoretical Calculations ◽  
Low Cost ◽  
Die Design ◽  
Element Analysis ◽  
Technological Institute ◽  
Computer Aided ◽  
Cad Models ◽  
Functional Prototype ◽  
Definition Of

The objective of this research is to manufacture a prototype of a teaching die for the specialty of precision mechanical design in mechatronic engineering, in order to achieve the skills required in unit two, regarding dies. The methodology used consists of five stages: 1. Definition of the preliminary conditions. 2. Theoretical calculations for die design. 3. Design, modeling and assembly using computer-aided software (CAD) of the parts that make up the die. 4. Validation with simulation of finite element analysis (AEF). 5. Manufacture of parts and physical assembly of the die. A functional prototype was obtained with which the teacher and student can perform calculations, designs and CAD models, AEF analysis of the static and fatigue type, manufacture of rapid prototypes using 3D printing, the identification of the parts that make up a die and their functioning. The advantage of this prototype, compared to metal die-cutting machines, is its low cost of production and manufacturing, it does not require expensive and specialized machinery for manufacturing, specific designs can be made by the students and its subsequent manufacture within the laboratories of the Technological Institute of Hermosillo.

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