Mechatronic Design of Mobile Robots for Stable Obstacle Crossing at Low and High Speeds

2017 ◽  
pp. 759-821
Author(s):  
Jean-Christophe Fauroux ◽  
Frédéric Chapelle ◽  
Belhassen-Chedli Bouzgarrou ◽  
Philippe Vaslin ◽  
Mohamed Krid ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Obstacle Crossing ◽  
Mechatronic Design ◽  
High Speeds

Mechatronic Design of Mobile Robots for Stable Obstacle Crossing at Low and High Speeds

2015 ◽  
pp. 567-630
Author(s):  
Jean-Christophe Fauroux ◽  
Frédéric Chapelle ◽  
Belhassen-Chedli Bouzgarrou ◽  
Philippe Vaslin ◽  
Mohamed Krid ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
High Speed ◽  
Legged Locomotion ◽  
Improve Performance ◽  
Obstacle Crossing ◽  
Low Speed ◽  
Pitch Control ◽  
High Speeds ◽  
Hybrid Locomotion

This chapter presents recent mechatronics developments to create original terrestrial mobile robots capable of crossing obstacles and maintaining their stability on irregular grounds. Obstacle crossing is both considered at low and high speeds. The developed robots use wheeled propulsion, efficient on smooth grounds, and improve performance on irregular grounds with additional mobilities, bringing them closer to legged locomotion (hybrid locomotion). Two sections are dedicated to low speed obstacle crossing. Section two presents an original mobile robot combining four actuated wheels with an articulated frame to improve obstacle climbing. Section three extends this work to a new concept of modular poly-robot for agile transport of long payloads. The last two sections deal with high-speed motion. Section four describes new suspensions with four mobilities that maintain pitch stability of vehicles crossing obstacles at high speed. After the shock, section five demonstrates stable pitch control during ballistic phase by accelerating-braking the wheels in flight.

Mechatronic Design of a Mixed Conventional/Braking Actuation Mobile Robot

2016 ◽  
Author(s):  
Jeremy W. Simmons ◽  
Walelign M. Nikshi ◽  
Mark D. Bedillion ◽  
Randy C. Hoover
Keyword(s):  
Mobile Robot ◽  
Dynamic System ◽  
Mobile Robots ◽  
Friction Force ◽  
Mechatronic Design ◽  
Drive Wheel ◽  
Electromechanical Brake

This paper presents the design of a novel mixed conventional/braking actuation mobile robot (MAMR), which replaces conventional actuators used for steering with controllable brakes. The mechatronic design of a novel electromechanical braking actuator, its implementation in the MAMR, and the mechatronic design of the MAMR are presented. A motion experiment is also given as a demonstration. The MAMR presented in this paper implements a new platform for mobile robots which is composed of two electromechanical braking actuators and an omni-directional drive wheel. The electromechanical brake presented is an omni-directional ball transfer that is electronically lockable. When the brake is in the locked state, it generates a reactive friction force onto a dynamic system that, in the case of the MAMR, can be used to steer and brake. This platform offers a minimalistic approach to locomotion in mobile robots.

Hopping Robot: Current Status and Future Perspectives

2021 ◽  
Vol 14 ◽  
Author(s):  
Jingang Jiang ◽  
Yang Zeng ◽  
Xiaoyang Yu ◽  
Dianhao Wu ◽  
Yafeng Guo
Keyword(s):  
Mobile Robots ◽  
Mobile Robotics ◽  
Mechanical Energy ◽  
High Mobility ◽  
Current Status ◽  
Research Trend ◽  
Obstacle Crossing ◽  
The Future ◽  
New Energy ◽  
Hopping Robots

Background: Search and rescue in high-risk situations and searches in unknown environments pose certain threats to human physical life. The development of mobile robots with exploratory capabilities that can be adapted to complex sites, with high mobility and high obstacle-crossing capabilities, is therefore a research trend. Existing wheeled and tracked mobile robots have excellent locomotion, but they are less adaptable and less efficient when faced with complex terrain or outer space environments. Therefore, how to increase the obstacle-crossing ability and improve the movement efficiency of mobile robots has become a research hotspot in the field of mobile robotics. Objective: To introduce the classification, characteristics and development of existing hopping robots. Methods: The various products and patents of hopping robots are summarized, and the structural features, differences and applications of typical hopping robots are introduced. Results: By analyzing a variety of hopping robots, the typical characteristics and the current problems of hopping robots are analyzed, the development trend of hopping robots is prospected, the current research status of hopping robots are discussed and the future prospects are carried out. Conclusion: Hopping robots can be divided into mechanical energy drive, combustion energy drive and new energy drive according to the driving method. Depending on the drive energy used, jumping robots can achieve a jump height 0.5-30 times higher than their own size, and combined with a specific mechanical structure design, they have the characteristics of high explosive, high mobility, and can solve interstellar exploration, terrain exploration and rescue problems. Compared to mechanical energy drives, combustion chemistry is two orders of magnitude more energy intensive than even the highest performing batteries. The use of recycled renewable energy solves the energy self-loading problem of chemical combustion drives and is more environmentally friendly than the two previous types of new energy drives. Therefore, such products should be invented and patented in the future.

Agile Wheeled Mobile Robots for Service in Natural Environment

2012 ◽  
pp. 295-337 ◽  
Author(s):  
Jean-Christophe Fauroux ◽  
Belhassen-Chedli Bouzgarrou ◽  
Nicolas Bouton ◽  
Philippe Vaslin ◽  
Roland Lenain ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Dynamic Stability ◽  
Natural Environment ◽  
High Speed ◽  
Lateral Stability ◽  
Vehicle Dynamic ◽  
Wheeled Mobile Robots ◽  
Obstacle Crossing ◽  
New Device ◽  
Rollover Prevention

Other advances deal with high-speed motion. Section 4 describes a new device dedicated to vehicle dynamic stability, which improves lateral stability on fast mobile robots during turns and contributes to rollover prevention. Finally, Section 5 introduces innovative suspensions with two DOF for fast obstacle crossing. They damp vertical shocks, such as ordinary suspensions, but also horizontal ones, contributing to tip-over prevention on irregular grounds that feature many steep obstacles.

scholarly journals Design and Coordination of Cooperative Mobile Robots

2016 ◽  
Vol 5 (2) ◽  
pp. 115
Author(s):  
Mohamed Krid
Keyword(s):  
Mobile Robots ◽  
Mobile Robotics ◽  
Robot System ◽  
Obstacle Crossing ◽  
Stable Motion ◽  
Group A ◽  
Human Operators ◽  
Object Transportation ◽  
The Stability ◽  
Internal Configuration

<p>Object transportation is an important task considered in mobile robotics. For many years, it has been performed by single robots, capable to transport payload of moderate size and mass with respect to the robot size and mass. But if the payload gets bigger, the robot fails in the transporting task. For wider or heavier payloads, human operators improve their capacities by working in group. A similar improvement should be expected with a group of mobile robots.</p><p>In this paper, we proposed a new concept of cooperative mobile robots to deal with the problem of long object transportation in unstructured environment whatever the payload length. The proposed C3Bots AT/VLP robot is formed by the association of two or more mono-robots with simple kinematics forming a poly-robot system.</p><p>The paper presents several kinematic schemes and the corresponding obstacle-crossing processes. It deals with the problem of how to maintain stable motion for the poly-robot during obstacle crossing. Changes in the internal configuration of the robot adjust the center of gravity to guarantee stable motion. A specific stability criterion for contact on three wheels is presented. By adjusting the relative poses of the front and rear axles with respect to the payload, it is possible to maximize the stability of the poly-robot and its payload during obstacle crossing.</p>

A Statistical Study of Process Variables to Optimize a High Speed Curtain Coater: Part I

TAPPI Journal ◽  
2009 ◽  
Vol 8 (1) ◽  
pp. 20-26 ◽  
Author(s):  
PEEYUSH TRIPATHI ◽  
MARGARET JOYCE ◽  
PAUL D. FLEMING ◽  
MASAHIRO SUGIHARA
Keyword(s):  
Boundary Layer ◽  
Experimental Design ◽  
High Speed ◽  
Statistical Study ◽  
Process Variables ◽  
High Speeds ◽  
The Stability ◽  
Air Removal ◽  
Removal System

Using an experimental design approach, researchers altered process parameters and material prop-erties to stabilize the curtain of a pilot curtain coater at high speeds. Part I of this paper identifies the four significant variables that influence curtain stability. The boundary layer air removal system was critical to the stability of the curtain and base sheet roughness was found to be very important. A shear thinning coating rheology and higher curtain heights improved the curtain stability at high speeds. The sizing of the base sheet affected coverage and cur-tain stability because of its effect on base sheet wettability. The role of surfactant was inconclusive. Part II of this paper will report on further optimization of curtain stability with these four variables using a D-optimal partial-facto-rial design.

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