Design and Construction of a New Version of the Epi.q UGV for Monitoring and Surveillance Tasks

2015 ◽  
Author(s):  
Giuseppe Quaglia ◽  
Matteo Nisi
Keyword(s):  
Mechanical Design ◽  
Legged Locomotion ◽  
Torque Control ◽  
Sensing System ◽  
Robot Architecture ◽  
Robot Behavior ◽  
Monitoring And Surveillance ◽  
Definition Of ◽  
Robot Configurations ◽  
Design And Construction

The paper presents a new member of Epi.q robot family, a series of mobile robots with a wheel-legged locomotion and with the ability to overcome obstacles and move on uneven terrains. The particular feature of this robot family is the ability to switch from a wheel locomotion to a leg locomotion without any external active control but only depending on the dynamic conditions. In particular this work deals with the design of the latest prototype developed, analyzing the design and construction phases. This prototype is more powerful than the previous thanks to the possibility to have four driving units instead of two. The robot architecture has been studied in order to be modular. Several robot configurations can be obtained with the same structure and this allows to test how each component affect the overall robot behavior. Moreover the mechanical design is more accurate and reliable respect to previous versions. A sensing system has been introduced with the aim to evaluate the performances of each robot architecture. Finally an on-board processor has been added. This allows the definition of more complex control logics such as the cooperation between a speed control with a torque control in the four driving units configuration. Moreover it increases the smart tasks that the robot is able to perform such as the developing of a remote autonomous control rather than a manual drive by an operator.

Design of a Parallel Elastic Hopper With a Wrapping Cam Mechanism and Template Based Virtually Tunable Damping Control

2020 ◽  
Author(s):  
Sinan Şahin Candan ◽  
Osman Kaan Karagöz ◽  
Yiğit Yazıcıoğlu ◽  
Uluç Saranlı
Keyword(s):  
Mechanical Design ◽  
Realistic Model ◽  
Torque Control ◽  
Direct Drive ◽  
Cam Mechanism ◽  
Robot Architecture ◽  
Damping Control ◽  
Link Mechanism ◽  
Cam Profile ◽  
And Control

Abstract In this study, mechanical design and control of a novel parallel elastically actuated (PEA) legged robot are presented. Motion under analysis is limited to vertical apex to apex hopping. Robot is composed of a symmetric four link mechanism as the leg, a brushless direct-drive DC motor and a wrapping cam with extension spring. Controller is based on templates (the simplest model) and anchors (more realistic model) scheme, where the template is the Spring Loaded Inverted Pendulum (SLIP) including a viscous damper which is virtually tunable. For a desired apex, required damping constant is calculated to provide necessary energy to SLIP from an approximate analytical map. Template motion is realized in the anchor model by equating its dynamics to the template dynamics through torque control to equate energy inputs and a wrapping cam to equate potential energies. During the motion, a string is wrapped around a cam by relative motion between two links of the four link mechanism. The string pulls the spring and creates a nonlinear elongation function. Desired elongation is obtained from the required template potential energy and the necessary cam profile is calculated analytically. Thus, a linear compression spring is realized with a tension spring with cam. Static force experiments are performed to show that cam works as desired. Overall simulations and details of mechanical design are presented. This novel PEA robot architecture provides an accurate and energy efficient solution with a simple mechanical design.

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.

Vertical and Horizontal Academic Projects: A Novel Teaching Technique in the Faculty of Engineering of the National Autonomous University of Mexico

2005 ◽  
Author(s):  
A. Espinosa Bautista ◽  
M. Garci´a del Ga´llego ◽  
A. Zepeda Sa´nchez
Keyword(s):  
Undergraduate Students ◽  
Mechanical Design ◽  
Project Based Learning ◽  
Mechanics Of Solids ◽  
Advantages And Disadvantages ◽  
Potential Applications ◽  
Central Database ◽  
A New Technique ◽  
Definition Of ◽  
Product Specifications

Competitiveness of the students is increasing. Students with better skills are graduating from universities all over the world. More and more efforts are being done to improve the skills of the undergraduate students. In the Faculty of Engineering of the National Autonomous University of Mexico (UNAM) many lecturers use projects to help students to better understand the concepts and to improve their teamwork skills. However many of these efforts are isolated and have been done in an empirical way. The Manufacturing and Design Center is seeking ways to get students with better skills and bring together the isolated efforts done by many lecturers. Therefore a new technique is being explored for the mechanical design area. This technique is based on the Project Based Learning method. Two main approaches are being explored: the Horizontal Projects (HP) and the Vertical Projects (VP). The basic idea for the HP is to have a Great Design Team (GDT) developing a project in one semester. Students from different subjects of the Mechanical Engineering program compose the GDT. Each of these groups have access to information related to the subject they are attending in a central database. Students work on the different issues according to their subject; e.g. Mechanics of Solids solve issues related to the stress in the different elements of the machine or product developed; the Product Design subject works on the definition of the product specifications, requirements etcetera. Periodical meetings help to evaluate the global progress of the GDT. In the VP one student works on different stages of the project as he/she moves from one semester to the next, all the time working in the same project. The expected benefit of this technique is to provide the student with a better view of the different stages involved in the development of a project. Both techniques are being explored. Each of these techniques has advantages and disadvantages. This paper describes in detail these techniques and the potential applications for other careers within the Faculty of Engineering.

scholarly journals Design and Construction of a Cost-Effective Didactic Robotic Arm for Playing Chess, Using an Artificial Vision System

Electronics ◽  
2019 ◽  
Vol 8 (10) ◽  
pp. 1154 ◽  
Author(s):  
Cristian del Toro ◽  
Carlos Robles-Algarín ◽  
Omar Rodríguez-Álvarez
Keyword(s):  
Visual Servoing ◽  
Mechanical Design ◽  
Vision System ◽  
Cost Effective ◽  
Artificial Vision ◽  
Robotic Arm ◽  
Chess Game ◽  
Human Opponent ◽  
The University ◽  
Design And Construction

This paper presents the design and construction of a robotic arm that plays chess against a human opponent, based on an artificial vision system. The mechanical design was an adaptation of the robotic arm proposed by the rapid prototyping laboratory FabLab RUC (Fabrication Laboratory of the University of Roskilde). Using the software Solidworks, a gripper with 4 joints was designed. An artificial vision system was developed for detecting the corners of the squares on a chessboard and performing image segmentation. Then, an image recognition model was trained using convolutional neural networks to detect the movements of pieces on the board. An image-based visual servoing system was designed using the Kanade–Lucas–Tomasi method, in order to locate the manipulator. Additionally, an Arduino development board was programmed to control and receive information from the robotic arm using Gcode commands. Results show that with the Stockfish chess game engine, the system is able to make game decisions and manipulate the pieces on the board. In this way, it was possible to implement a didactic robotic arm as a relevant application in data processing and decision-making for programmable automatons.

Mechanical Engineering Design-for-Reliability

2011 ◽  
Author(s):  
William R. Wessels
Keyword(s):  
Density Function ◽  
Failure Modes ◽  
Mechanical Design ◽  
Mass Density ◽  
Failure Mechanisms ◽  
Strength Properties ◽  
Material Strength ◽  
Design For Reliability ◽  
Mechanical Part ◽  
Definition Of

This paper presents a design-for-reliability approach for mechanical design. Reliability analysis in part design, indeed the very definition of reliability, has been focused towards the electronic and digital disciplines since the emergence of reliability engineering in the late 1940’s. That focus dictates that parts fail in time; that all parts have a constant failure rate, and that part failure is modeled by the exponential mass density function. This paper presents current research that proposes that reliability in mechanical design is not characterized by ‘best practices’ reliability analyses. One premise investigated is that time does not cause failure in mechanical design; only failure mechanisms do. Mechanical parts experience wear-out and fatigue, unlike electronic and digital parts. Mechanical design analysis for part design investigates material strength properties required to survive failure mechanisms induced by part operation and by part exposure to external failure mechanisms. Such failure mechanisms include physical loads, thermal loads, and reactivity/corrosion. Each failure mechanism acting on a mechanical part induces one or more part failure modes, and each part failure mode has one or more failure effects on the part and the upper design configurations in which the part is integrated. The second premise investigated is that mechanical part failure is modeled by the Weibull mass density function in terms of stress, not time. A reliability math model for tensile strength in composite materials is presented to illustrate the two premises.

COMPASS mechanical design and construction

2003 ◽  
Author(s):  
R.J. Hayward ◽  
P.J. Crawley ◽  
R.T. Crossland ◽  
B.S. Ingram ◽  
A.P. Pratt ◽  
...  
Keyword(s):  
Mechanical Design ◽  
Design And Construction
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