Structure Design and Analysis of Rescue Robot

2012 ◽  
Vol 190-191 ◽  
pp. 729-732
Author(s):  
Hong Cheng ◽  
Hong Chao Fan ◽  
Hai Fei Lin ◽  
Cong Li ◽  
Yu Peng Mao ◽  
...  
Keyword(s):  
Mechanical Design ◽  
Structure Design ◽  
Zhejiang Province ◽  
Rescue Work ◽  
Rescue Robot ◽  
Wheel Drive ◽  
Wide Range ◽  
Design Competition ◽  
Four Wheel Drive ◽  
And Control

It becomes the urgent and necessary to the development about wide range of manufacturing a multi-functional and human intelligence rescue robots because of difficulty of rescuing the wounded person in a disaster such as earthquakes and other disasters. A rescue robot prototype has been designed, assembled and commissioned based on the rescue mission and rescue needs of the students in Zhejiang Province mechanical design contest. The rescue robot is able to implement going through the tunnel and the bridge, removing the rescue objectives and other actions tasks. The rescue robot has a structure of four-wheel drive, variable center distance which can improve the ability of walking on the bridge and grabbing the rescue target by suction cups to complete the contest tasks. Experiment verified that the design of actuators and control system is reasonable. It took a total of 1 minute 18 seconds to complete the rescue work in Zhejiang Province mechanical design competition.

Dynamics and Controller Design of a Screw Wheel Drive Holonomic Rescue Robot

2012 ◽  
Author(s):  
Emin Faruk Kececi
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Controller Design ◽  
Mechanical Design ◽  
Future Research ◽  
Rescue Robot ◽  
Wheel Drive ◽  
The Stability ◽  
Adaptive Control Algorithm ◽  
Future Work

This paper reports a holonomic rescue robot where the robot is driven by screw wheels. The necessity of a such platform is explained and the mechanical design and the actual prototype are presented. In order to design an adaptive control algorithm to ensure the trajectory tracking, the dynamical model is constructed. The stability of the adaptive control algorithm is proven with Lyapunov stability analysis. The necessary electronics to implement the controller algorithm is explained and the conclusions and future work section reports the results of the study as well as the future research directions.

scholarly journals Multi-terrain Quadrupedal-wheeled Robot Mechanism: Design, Modeling, and Analysis

2020 ◽  
Vol 5 (12) ◽  
pp. 24-33
Author(s):  
Eric Gratton ◽  
Mbadiwe Benyeogor ◽  
Kosisochukwu Nnoli ◽  
Oladayo Olakanmi ◽  
Liam Wolf ◽  
...  
Keyword(s):  
Structural Integrity ◽  
Mechanical Design ◽  
Element Analysis ◽  
Active Suspensions ◽  
Modeling And Analysis ◽  
Drive Mechanism ◽  
Wheel Drive ◽  
Wheeled Robot ◽  
Mathematical Equations ◽  
And Control

For a robot to navigate in terrains of rough and uneven topographies, its drives and controllers must generate and control large mechanical power with great precision. This paper is aimed at developing an autonomous robot with active-suspensions in form of a hybrid quadrupedal-wheel drive mechanism. This involves a computational approach to optimizing the development cost without compromising the system’s performance. Using the Solidworks CAD tool, auxiliary components were designed and integrated with the bed structure to form an actively suspended robot drive mechanism. Also, using the S-Math Computing tool, the robot’s suspension system was optimized, employing a four-bar mechanism. To enhance the compatibility of this design with the intended controller, some mathematical equations and numerical validations were formulated and solved. These included the modeling of tip-over stability and skid steering, the trendline equations for computing the angular positions of the suspension servomotors, and the computation of R2– values for determining the accuracy of these trendline equations. Using finite element analysis (FEA), we simulated the structural integrity of key sub-components of the final structure. The results show that our mechanical design is appropriate for developing an actively suspended robot that can efficiently navigate in different terrestrial sites and topographies.

A Study of Robot Platform Based on WiFi Remote Control

2013 ◽  
Vol 418 ◽  
pp. 20-24
Author(s):  
Yu Zhen Yang ◽  
Chang Sheng Ai ◽  
Kevin Lee
Keyword(s):  
Remote Control ◽  
Mobile Robot ◽  
Real Time ◽  
Data Communication ◽  
Wheel Drive ◽  
Control Terminal ◽  
Four Wheel Drive ◽  
And Control ◽  
Network Camera ◽  
Robot Platform

In order to complete the complex operation in the dangerous environment and improve the efficiency and accuracy of industrial production. WiFi based remote control system platform is composed by the controlled mobile robot and control terminal such as PC. They communicate with each other through wireless network. The mobile robot constructs of four wheel drive. Microcontroller, sensor, wireless routing module, serial server and network camera are in the robot. Control terminal includes PC, control handle and other equipments. Using a proven and reliable wireless bridge, each network device can realize network communication with others. Based on the TCP/IP protocol, using socket programming technology, data communication can be achieved. Video capture uses the network camera. Through the test of the platform, bilateral operation with real-time haptic and video feedback are achieved. At the same time according to the real-time environmental information feedback, control terminal realizes the effective remote monitoring in the controlled end.

Optimal Design and Fabrication of “CEDRA” Rescue Robot Using Genetic Algorithm

2004 ◽  
Author(s):  
A. Meghdari ◽  
H. N. Pishkenari ◽  
A. L. Gaskarimahalle ◽  
S. H. Mahboobi ◽  
R. Karimi
Keyword(s):  
Genetic Algorithm ◽  
Mechanical Design ◽  
Design Parameters ◽  
Robot Design ◽  
Preliminary Step ◽  
Laboratory Environment ◽  
Rescue Robot ◽  
Optimum Parameters ◽  
And Control ◽  
Clean Laboratory

This article presents an overview of the mechanical design features, fabrication and control of a Rescue Robot (CEDRA) for operation in unstructured environments. As a preliminary step, the essential characteristics of a robot in damaged and unstable situations have been established. According to these features and kinematical equations of the robot, design parameters are optimized by means of Genetic Algorithm. Optimum parameters are then utilized in construction. Upon fabrication, this unit has been tested in clean laboratory environment, as well as, ill-conditioned arenas similar to earthquake zones. The obtained results have been satisfactory in all aspects, and improvements are currently underway to enhance capabilities of the rescue robot unit for various applications.

scholarly journals Study on stability and handling characteristics and control of four-wheel-drive electric vehicles

2017 ◽  
Vol 9 (12) ◽  
pp. 168781401773772 ◽  
Author(s):  
Feihua Huang ◽  
Chunyun Fu ◽  
Xiaolin Tang ◽  
Minghui Hu
Keyword(s):  
Electric Vehicles ◽  
Handling Characteristics ◽  
Wheel Drive ◽  
Four Wheel Drive ◽  
And Control

Design and Control of a High Precision Laser-Cutting Machine

2018 ◽  
Author(s):  
Mason Van Bibber ◽  
Behnam Bahr
Keyword(s):  
Control Theory ◽  
High Precision ◽  
Laser Cutting ◽  
Mechanical Design ◽  
Low Cost ◽  
Cutting Machine ◽  
Mechanical Assemblies ◽  
Wide Range ◽  
Hands On Learning ◽  
And Control

Education in mechanical design and control theory is paramount to anyone interested in engineering and the “Maker” culture. Additionally, integration of concepts normally presented in discrete learning segments enhances technical and intuitive understanding of how systems work individually and together. This project aims to increase students’ understanding of engineering topics while equipping them with the necessary tools and information to recreate a high-precision laser-cutting machine at a minimal cost. These topics include electronic designs, mechanical assemblies, machine calibration, and control theory. Although there is a wide range of laser-cutting machines currently available, most low-cost options are inaccurate and low-quality. Because such systems come preassembled and with little documentation, using them offers no educational value with respect to learning how the system functions. Since pre-assembled systems offer little hands-on learning potential related to their construction and design, the goal of this project is to develop a system that will offer this experience and enhance student understanding as they “Learn by Doing.” Students learning about the aforementioned topics will investigate them by constructing their own low-cost and reproducible laser-cutting machine. This system will enable students to study how to combine the ideas and theories learned throughout their engineering curriculum into a single design.

Torque Distribution Strategy for Multi-PMSM Applications and Optimal Acceleration Control for Four-Wheel-Drive Electric Vehicles

2019 ◽  
Vol 142 (2) ◽  
Author(s):  
Ziyou Song ◽  
Heath Hofmann ◽  
Jianqiu Li ◽  
Yuanying Wang ◽  
Dongbin Lu ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Optimization Problems ◽  
Maximum Efficiency ◽  
Programming Approach ◽  
Acceleration Process ◽  
Torque Distribution ◽  
Distribution Strategy ◽  
Wheel Drive ◽  
Wide Range ◽  
Four Wheel Drive

Abstract In this paper, a general torque distribution strategy is proposed to improve the drivetrain efficiency of four-wheel-drive electric vehicles (EVs). The strategy allows the same or different motors to be equipped in the front and rear wheels. The model of the drivetrain considers the loss properties of four permanent magnet synchronous motors (PMSMs) and four inverters over a wide range of torque and speed. The relationship between the drivetrain efficiency and the torque split ratio at any given speed is proven to be convex under both traction and regenerative braking conditions. It is shown that, when all four motors are identical, the maximum efficiency can be achieved if the total torque is equally shared. An equivalent loss strategy, which is a general method and can solve many optimization problems of multi-PMSM applications, is proposed to maximize the drivetrain efficiency when different PMSMs are used in the front and rear wheels. The effectiveness of the proposed strategy is verified using an urban dynamometer driving schedule (UDDS). In addition, the acceleration process of EVs is optimized using a dynamic programming approach to minimize acceleration duration and energy consumption. Simulation results show that, with the proposed strategy, the energy loss during the acceleration can be reduced by up to 15%.

scholarly journals Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Soheil Habibian ◽  
Mehdi Dadvar ◽  
Behzad Peykari ◽  
Alireza Hosseini ◽  
M. Hossein Salehzadeh ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mechanical Design ◽  
Field Performance ◽  
Fire Department ◽  
Urban Search And Rescue ◽  
Rescue Robot ◽  
Design And Implementation ◽  
Manipulation System ◽  
And Control ◽  
High Degree

AbstractRescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions. We first elicit the system requirements of a standard rescue robot from the frameworks of Rescue Robot League (RRL) of RoboCup and then, propose the conceptual design of Karo by drafting a locomotion and manipulation system. Considering that, this work presents comprehensive design processes along with detail mechanical design of the robot’s platform and its 7-DOF manipulator. Further, we present the design and implementation of the command and control system by discussing the robot’s power system, sensors, and hardware systems. In conjunction with this, we elucidate the way that Karo’s software system and human–robot interface are implemented and employed. Furthermore, we undertake extensive evaluations of Karo’s field performance to investigate whether the principal objective of this work has been satisfied. We demonstrate that Karo has effectively accomplished assigned standardized rescue operations by evaluating all aspects of its capabilities in both RRL’s test suites and training suites of a fire department. Finally, the comprehensiveness of Karo’s capabilities has been verified by drawing quantitative comparisons between Karo’s performance and other leading robots participating in RRL.

scholarly journals Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

2021 ◽  
Vol 343 ◽  
pp. 08003
Author(s):  
Mihai Crenganis ◽  
Cristina Biris ◽  
Claudia Girjob
Keyword(s):  
Mobile Robot ◽  
Mobile Platform ◽  
Wheel Drive ◽  
Differential Steering ◽  
General Aspects ◽  
Four Wheel Drive ◽  
And Control ◽  
High Degree ◽  
Future Work ◽  
Important Objective

This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.

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