Analysis of Suspension System for 3D Printed Mobile Robot

The optimal design of an omnidirectional wheel is usually focused on the minimization of the gap between the free rollers of the wheel in order to minimize contact discontinuities with the floor in order to minimize the generation of vibrations. However, in practice, a fast, tall, and heavy-weighted mobile robot using optimal omnidirectional wheels may also need a suspension system in order to reduce the presence of vibrations and oscillations in the upper part of the mobile robot. This paper empirically evaluates whether a heavy-weighted omnidirectional mobile robot can take advantage of its passive suspension system in order to also use non-optimal or suboptimal omnidirectional wheels with a non-optimized inner gap. The main comparative advantages of the proposed suboptimal omnidirectional wheel are its low manufacturing cost and the possibility of taking advantage of the gap to operate outdoors. The experimental part of this paper compares the vibrations generated by the motion system of a versatile mobile robot using optimal and suboptimal omnidirectional wheels. The final conclusion is that a suboptimal wheel with a large gap produces comparable on-board vibration patterns while maintaining the traction and increasing the grip on non-perfect planar surfaces.

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Legged 3D Printed Mobile Robot

Proceedings of the 29th International DAAAM Symposium 2018 - DAAAM Proceedings ◽

10.2507/29th.daaam.proceedings.057 ◽

2018 ◽

pp. 0394-0399 ◽

Cited By ~ 1

Author(s):

Petar Curkovic ◽

Luka Miskovic ◽

David Sarancic

Keyword(s):

Mobile Robot ◽

3D Printed

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Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

Computational Intelligence and Neuroscience ◽

10.1155/2022/3046116 ◽

2022 ◽

Vol 2022 ◽

pp. 1-19

Author(s):

Hani Attar ◽

Amer Tahseen Abu-Jassar ◽

Vladyslav Yevsieiev ◽

Vyacheslav Lyashenko ◽

Igor Nevliudov ◽

...

Keyword(s):

Mobile Robot ◽

Structural Control ◽

Slow Motion ◽

Vertical Movement ◽

Work Zones ◽

Program Code ◽

Natural Behavior ◽

Dynamic Movement ◽

Control Scheme ◽

3D Printed

Research in robotics is one of the promising areas in mobile robot development, which is planned to be implemented in extreme dangerous conditions of areas explored by humans. This article aims at developing and improving a prototype of zoomorphic mobile robots that are designed to repeat the existing biological objects in nature. The authors performed a detailed analysis on the structure and dynamics of the geometrical family caterpillar movement, which is passed on a practical design implemented to perform the dynamic movement on uneven vertical surfaces. Based on the obtained analysis, the design and kinematic scheme of the movement is developed. Also, the structural control scheme via the Internet technologies that allow carrying out remote control is presented in this paper, considering the dangerous mobile robot work zones. To test the recommended solutions, the authors developed detailed 3D printed models of the mobile robot constructions for the implemented hardware. The model of the mobile robot is constructed, and the control system with examples of the user program code implementations is performed. Several experiments were performed, which showed the efficiency of the achieved mobile robot for solving problems of vertical movement on uneven metal surfaces. Moreover, the obtained slow motion of the designed robot proves that the simulated robot behaves similarly to the natural behavior of caterpillar movement.

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Dimensional Synthesis of Suspension System of Wheel-Legged Mobile Robot

SYROM 2009 ◽

10.1007/978-90-481-3522-6_53 ◽

2009 ◽

pp. 633-644

Author(s):

A. Gronowicz ◽

P. Sperzyński

Keyword(s):

Mobile Robot ◽

Suspension System ◽

Dimensional Synthesis

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Unconventional Drive System of a 3D Printed Wheeled Mobile Robot

Procedia Manufacturing ◽

10.1016/j.promfg.2020.03.073 ◽

2020 ◽

Vol 46 ◽

pp. 509-516

Author(s):

Dariusz Mrozik ◽

Tadeusz Mikolajczyk ◽

Liviu Moldovan ◽

Danil Yu. Pimenov

Keyword(s):

Mobile Robot ◽

Wheeled Mobile Robot ◽

Drive System ◽

3D Printed

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Design and Modeling of a Ball Wheel Mobile Robot

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.463-464.1215 ◽

2012 ◽

Vol 463-464 ◽

pp. 1215-1218

Author(s):

Hashem Ghariblu ◽

Ali Moharrami ◽

Behnam Ghalamchi

Keyword(s):

Mobile Robot ◽

High Performance ◽

Load Capacity ◽

Suspension System ◽

Driving Mechanism ◽

Driving System ◽

Mechanical Structure ◽

New Generation

A new generation for an omni-directional ball wheel mobile robot with unique driving mechanism is introduced. This driving system overcomes to problems arise using traditional omni-wheels such as, vibration, inappropriate to employ in outdoor applications and limited load capacity. Mechanical structure of this robot has several distinctive characteristics in comparison with our previous robot. Modularity of driving system is the most important ability of new robot, beside on appending a suspension system to improve behavior of robot in rough terrains. Due to independent operation of three ball wheel chassis, designed robot has high performance in going over obstacles along its path.

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