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.

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.

scholarly journals Analysis, Design, and Control of an Omnidirectional Mobile Robot in Rough Terrain

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Martin Udengaard ◽  
Karl Iagnemma
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Optimization Method ◽  
Contact Angles ◽  
Design Guidelines ◽  
Rough Terrain ◽  
Uneven Terrain ◽  
Omnidirectional Mobile Robot ◽  
Subsystem Design ◽  
And Control

An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this paper, an investigation of the design and control of an omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the active split offset caster drive mechanism are investigated along with system and subsystem design guidelines. An optimization method is implemented to explore the design space. The use of this method results in a robot that has higher mobility than a robot designed using engineering judgment. A simple kinematic controller that considers the effects of terrain unevenness via an estimate of the wheel-terrain contact angles is also presented. It is shown in simulation that under the proposed control method, near-omnidirectional tracking performance is possible even in rough, uneven terrain.

Design of a Mobile Robot to Clean the External Walls of Oil Tanks

2013 ◽  
pp. 237-247
Author(s):  
Hernán Gonzalez Acuña ◽  
Alfonso René Quintero Lara ◽  
Ricardo Ortiz Guerrero ◽  
Jairo de Jesús Montes Alvarez ◽  
Hernando González Acevedo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Design Process ◽  
Design Methodology ◽  
Mechanical Design ◽  
Research Work ◽  
Control Design ◽  
Research Groups ◽  
Successful Design ◽  
Oil Tanks ◽  
And Control

This chapter describes a Mechatronics Design methodology applied to the design of a mobile robot to climb vertical surfaces. The first part of this chapter reviews different ways to adhere to vertical surfaces and shows some examples developed by different research groups. The second part presents the stages of Mechatronics design methodology used in the design, including mechanical design, electronics design, and control design. These stages describe the most important topics for optimally successful design. The final part provides results that were obtained in the design process and construction of the robot. Finally, the conclusions of this research work are presented.

Modeling and Robust Low Level Control of an Omnidirectional Mobile Robot

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Ramon Comasolivas ◽  
Joseba Quevedo ◽  
Teresa Escobet ◽  
Antoni Escobet ◽  
Juli Romera
Keyword(s):  
Mobile Robot ◽  
Pi Controller ◽  
Control Technique ◽  
Level Control ◽  
Parameter Uncertainties ◽  
Control Effort ◽  
Friction Forces ◽  
Low Level ◽  
Stability And Control ◽  
And Control

This paper presents the modeling and robust low-level control design of a redundant mobile robot with four omnidirectional wheels, the iSense Robotic (iSRob) platform, that was designed to test safe control algorithms. iSRob is a multivariable nonlinear system subject to parameter uncertainties mainly due to friction forces. A multilinear model is proposed to approximate the behavior of the system, and the parameters of these models are estimated from closed-loop experimental data applying Gauss–Newton techniques. A robust control technique, quantitative feedback theory (QFT), is applied to design a proportional–integral (PI) controller for robust low-level control of the iSRob system, being this the main contribution of the paper. The designed controller is implemented, tested, and compared with a gain-scheduling PI-controller based on pole assignment. The experimental results show that robust stability and control effort margins against system uncertainties are satisfied and demonstrate better performance than the other controllers used for comparison.

scholarly journals Design and Analysis of a Concrete Placer for Optimize the Craft of Infilled Walls’S Constructional Column

2015 ◽  
Vol 9 (1) ◽  
pp. 950-956
Author(s):  
Xiaosheng Song ◽  
Shuo Wang ◽  
Xiaosheng Song
Keyword(s):  
Mechanical Design ◽  
Design Concept ◽  
Wall Structure ◽  
Infill Wall ◽  
Transmission Design ◽  
Pillar Structure ◽  
Main Components ◽  
And Function ◽  
Constructional Column ◽  
And Control

Aiming at the construction of infill wall structural column are often used in artificial layer pouring method and top pouring back method, to improve the structure of wall column concrete pouring process, puts forward a new type of structural column concrete pouring machine. The application of this equipment, process worker can finish pouring filled wall structure column and tap filled wall structure column and unloading modulus. Reduces the labor intensity, reduces the construction cost and ensure the construction quality of frame pillar structure, realizes the structural column placement by artificial into mechanization. Introduces the design concept and the design of machinery equipment. Put forward a kind of "mixed Vibration, Lifting and Transmission" design concept. The mechanical design including a pumping device, transmission device, track lifting device, transmission device, vibration device, supporting steel template module six. Describes the structure and function of the main components of the. Describes the use of the method and the working principle of the equipment. And correlation analysis and calculation on the key parts. Presents the control principle and control calculation. Through the 3D MAX animation simulation and real structures is feasible

Design, Modeling and Control of an Omni-Directional Mobile Robot

2010 ◽  
Vol 166-167 ◽  
pp. 173-178 ◽  
Author(s):  
Ioan Doroftei ◽  
Bogdan Stirbu
Keyword(s):  
Mobile Robot ◽  
Mechanical Engineering ◽  
Mechanical Design ◽  
Electrical Engineering ◽  
Modeling And Control ◽  
Drive Mechanism ◽  
Technical University ◽  
And Control

One of the main issues of a mobile robot is to move in tight areas, to avoid obstacles, finding its way to the next location. These capabilities mainly depend on the wheels design. An omni-directional drive mechanism is very attractive because it guarantees a very good mobility in such cases. This paper provides some information about the mechanical design of an omni-directional robot, as well as about its control. This report is the result of the cooperation between researchers from Mechanical Engineering and Electrical Engineering Faculties, at “Gh. Asachi” Technical University of Iasi, Romania.

Design of Bio-Inspired Mobile Robot Using Piezoelectric Transducers As Drives

2017 ◽  
Author(s):  
Jovana Jovanova ◽  
Filip Dobrivojevski ◽  
Martina Dimoska
Keyword(s):  
Mobile Robot ◽  
Piezoelectric Transducer ◽  
Conceptual Development ◽  
Mechanical Design ◽  
Piezoelectric Transducers ◽  
Structural Components ◽  
Design Constraints ◽  
Straight Line ◽  
And Control ◽  
Complex Trajectories

This paper focuses on the design and development of a bio-inspired mobile robot using piezoelectric transducers as drives. The design of the device aimed to imitate the trajectory movement of a crawl-like animal. Design constraints as producing controlled movement with piezoelectric transducer, as well as the combination of multiple piezoelectric patches into one mobile robot are presented in their practical aspects. The robot uses 2 piezoelectric transducers as main drives, but also as main structural components of the device. The patches are connected with a thin light rod, and the kinematic of movement is achieved with 4 tiny wooden legs connected on each of the patches. The project investigates the possibility and effectiveness of the piezoelectric transducers for movement of the bio-inspired mobile robot. From conceptual development, to the mechanical design and control, the mobile robot is used to test different trajectories of movement. Ni RIO Evaluation kit has been incorporated as a real-time and FPGA control platform for the mobile robot while using Labview programing environment. To accomplish complex trajectories of movement the velocity of the robot was measured for straight line and rotation of the robot.

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.

Development of a Series of RT-Mover, Which is a Four-Wheel Type of Mobile Platform with an Ability of Negotiating Obstacles

2015 ◽  
Vol 27 (5) ◽  
pp. 587-589
Author(s):  
Shuro Nakajima ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Daily Life ◽  
Mobile Platform ◽  
Rough Terrain ◽  
Personal Mobility ◽  
Leg Motion

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/16.jpg"" width=""300"" /> Personal mobility vehicles</div> We have developed the RT-Mover series of mobile robots because of the strong demand for mobile robot platforms for use on rough terrain. They look like ordinary four-wheel vehicles but are mobile enough to operate on targeted rough terrain encountered in daily life. The advantage of this series is that individual wheels negotiate obstacles with their own leg motion mechanisms. </span>

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